The quake knocked over walls, broke windows and set off scattered building fires. It toppled furniture in homes and goods onto shop floors. It also cracked roads and broke water pipes, leaving homes without water.

Many homes and buildings, including a major hospital, were temporarily without power, though electricity was restored at most places by midafternoon.

Due to damage to underground gas lines, 110,000 homes in Takatsuki and Ibaraki cities were without gas, and repairs are expected to take as long as two weeks, according to Osaka Gas Co.

More building damage was found in the afternoon as disaster and relief workers inspected and cleaned up the affected areas. Roofs and roof tiles at homes and at least one temple fell to the ground in Osaka. At a shrine in Kyoto, stone lanterns broke and collapsed to the ground.

Defense troops joined rescue and relief operations in parts of Osaka, along with special vehicles to deliver clean drinking water.

Residents cleaned up debris at home and stores throughout the day. Meteorological agency officials warned of strong aftershocks in the area, urging residents to stay away from damaged structures.

The earthquake reminded many of the magnitude 7.3 Kobe quake in 1995 that killed more than 6,000 people in the region. Monday's quake also followed a series of smaller quakes near Tokyo in recent weeks. Japan's northern prefectures are still recovering from a magnitude 9.0 quake and tsunami in 2011 that killed more than 18,000.

"It was not as bad as the Kobe quake," said Jun Kawanami, a 30-year-old lawyer in Osaka. He said his wife ducked under a table and elevators in his office building were out of operation. "I used the stairs but I was out of breath by the time I arrived at my office on the 22nd floor," he said.

AP