Large buildings in the capital shook and train service was temporarily halted when the earthquake struck at a depth of 50 kilometers at 19:03 pm (07:03 am EDT) in Pacific waters off Japan's Chiba prefecture.
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The United States Geological Center also recorded the earthquake, with the same magnitude.
The Japanese nuclear authority has not detected any anomalies at nuclear plants in the region.
Shortly before Tokyo residents felt the tremor, Japan's advanced earthquake detection system asked television stations to warn of a potentially strong earthquake.
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“It was like being in a boat floating on water, rocking from side to side and it seemed to last more than 30 seconds,” an NHK presenter said after the quake.
In early May, a 6,3 magnitude earthquake struck the central Ishikawa region, killing one person and injuring 49.
The country still remembers the 9,0 earthquake that hit northeast Japan in March 2011, triggering a tsunami that left 18.000 people dead or missing.
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The 2011 tsunami triggered the meltdown of three reactors at the Fukushima nuclear plant, causing Japan's biggest disaster since World War II and the most serious nuclear accident since Chernobyl.
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