Asahi Holdings said its subsidiary would be calling back an estimated 120,000 bags of the meat-and-potatoes mix after one was found to contain a cricket, a small grasshopper-like insect.
Baby brand Wakodo received the complaint last month from a customer who bought the pack in Tochigi, northeast of Tokyo, and reported it included a 7.4-millimetre insect, the two companies said.
The firms said they did not know if the contamination ocurred in the manufacturing process, but had decided to recall the batch.
The incident comes after the Japanese arm of McDonald's said yesterday a human tooth had been found in french fries sold at one of its outlets.
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The company also reported pieces of vinyl inside chicken nuggets and a piece of plastic discovered in a sundae.
Japan generally has a good record on food safety, and its consumers are used to high standards.
Occasional blunders can prove costly to reputations, and firms that have fallen foul of shoppers have discovered the impact can be long-lasting.