Electricity, knocked out after the magnitude-8.6 quake on Wednesday, was restored and government offices were opened.
There were no immediate reports of fatalities as a result of the quake. A prison in Aceh Besar district suffered serious damaged.
Several aftershocks forced fearful residents to stay outside on Wednesday night.
In Jakarta, the National Disaster Management Agency said it was dispatching three teams to quake-affected areas to assess the damage.
"According to preliminary reports four people were lightly injured and one bridge collapsed," agency spokesperson Sutopo Nugroho said.
The quake triggered tsunami warnings for countries ranging from Indonesia to Thailand, India, Australia, the Seychelles, Somalia, Oman and South Africa.
The warnings were lifted hours later.