Some 170,000 houses were left without power and gas supplies to more than 100,000 homes were stopped, the Japan Times reported.
The earthquake registered as 6.1 on the Japan's quake scale, a level at which it is difficult to remain standing. The US Geological Survey measured it as magnitude 5.3.
Both the high-speed Shinkansen and local trains suspended operations during the morning commuting hours as several smaller aftershocks followed the quake.
The tremors also affected the prefectures of Kyoto, Nara, Hyogo, and Shiga.
Japan's meteorological agency warned there could be another big earthquake in the coming days.
There are also warnings that rain and landslides will continue to pose a danger for several days.
The quake also hit several key industrial areas near Osaka with companies like Panasonic and Daihatsu saying they were suspending production at their affected sites.
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