More than 20 people were injured when a powerful earthquake rattled central Japan in the early hours of Sunday, breaking shop windows and sending residents running from buildings, local media and authorities said.

The Japan Meteorological Agency said the magnitude 5.7 quake hit at 1:04am local time (16:00 GMT Saturday), at a depth of roughly 40km (25 miles) beneath western Shizuoka Prefecture.

Authorities cited by the Kyodo news agency said the injuries occurred across Aichi and Shizuoka prefectures. Some of those hurt had fallen on stairways while trying to escape, the Associated Press reported.

The shaking was felt across a broad region near Aichi Prefecture, reaching the city of Hamamatsu, the ancient capitals of Kyoto and Nara, and the prefectures of Gifu and Yamanashi, home to Mount Fuji. The quake was not felt in Tokyo, which lies far from the epicentre.

No tsunami warning was issued, according to Kyodo.

Footage aired on Japanese television showed broken storefront glass scattered across streets, while one bookstore was left with piles of books that had tumbled from its shelves.

The meteorological agency cautioned residents to prepare for potentially strong aftershocks over the coming week, particularly during the next two to three days.

"Please be on the lookout for mudslides, falling rocks and the possible effects from rainfall," agency official Ayataka Ebita told reporters.

Ebita added that no noticeable change had been detected so far in the Nankai Trough, an undersea trench where two major tectonic plates converge beneath parts of Japan and where scientists warn a megaquake could one day strike.

Rail services were also disrupted. Some local train lines were suspended, and Shinkansen bullet trains ran at reduced speeds through affected areas as a precaution. JR Central said trains on the Tokaido Shinkansen line linking Tokyo and Osaka were delayed between Shizuoka and Gifu-Hashima stations while safety checks were carried out.