The moderate quake hit at a depth of eight kilometres (five miles), 107 kilometres northeast of Shibetsu.

USGS said there was a low likelihood of casualties and damage.

It comes after a powerful 6.6-magnitude quake in September rocked Hokkaido, triggering landslides, collapsing houses and killing more than 40.

Japan sits at the junction of four tectonic plates and experiences a number of relatively violent quakes every year.

But rigid building codes and strict enforcement mean even strong tremors often do little damage.