After a large earthquake, many small earthquakes, called aftershocks, ensue. Additional large earthquakes typically do not occur, despite the fact that the large static stress near the edges of the fault is expected to trigger further large earthquakes at these locations. Here we analyse ~10,000 highly accurate focal mechanism solutions of aftershocks of the 2016 Mw 6.2 Central Tottori earthquake in Japan. We determine the location of the horizontal edges of the mainshock fault relative to the aftershock hypocentres, with an accuracy of approximately 200 m. We find that aftershocks rarely occur near the horizontal edges and extensions of the fault. We propose that the mainshock rupture was arrested within areas characterised by substantial stress relaxation prior to the main earthquake. This stress relaxation along fault edges could explain why mainshocks are rarely followed by further large earthquakes.