Relational values have been gaining increasing attention in recent years, overcoming the dichotomy of intrinsic and instrumental values, and allowing more pluralistic perspectives in evaluating nature and nature's contributions to people. Although various theoretical and qualitative studies on relational values have been published, studies based on empirical evidence are limited. Building on the conceptual framework presented by Chan et al. (Proc Natl Acad Sci 113(6):1462-1465, 2016, ), which included several constructs of relational values, this study aimed to quantitatively explore the structure of relational values. A questionnaire was developed based on a review of existing quantitative studies on the preferences, principles, and virtues associated with the human-nature relationship that are included in the framework. The sample consisted of a total of 1862 residents of the Greater Tokyo Area in Japan. Exploratory factor analysis (n = 931) and confirmatory factor analysis (n = 931) were conducted to explore and validate the structure of relational values. Results supported a six-factor model that was mostly in line with the conceptual framework based on Chan et al. (Proc Natl Acad Sci 113(6):1462-1465, 2016, ): individual identity, satisfaction from local stewardship (place-based stewardship eudaimonic), satisfaction from being eco-friendly (general stewardship eudaimonic), worldview, social responsibility, and social cohesion. This finding suggests that the relational values proposed by Chan et al. (Proc Natl Acad Sci 113(6):1462-1465, 2016, ) are likely to be present over a wide age range. Satisfaction factors were highly correlated with each other yet extracted as individual factors. The results suggest that except for stewardship eudaimonic, people are unlikely to distinguish between relational values about place-based nature and nature in general.