A 24-hour stoppage by the left-led Rail, Maritime and Transport union yesterday caused an estimated £100m damage to London's economy and prompted suggestions that the capital's Olympic bid could be compromised.
Buses struggled to make progress along congested streets, forcing many people to walk for miles to reach their workplaces.
The mayor of London, Ken Livingstone, faced calls from the Conservatives to produce an "emergency plan" for future stoppages which could involve turning London's royal parks into temporary car parks.
There was little hope of a swift resolution as the RMT alleged 800 jobs were under threat under London Underground's latest plan for improved productivity, which it said would involve a crackdown on sick leave and longer shifts on Friday and Saturday evenings.
The union added a fresh grievance, claiming that new fire safety legislation drawn up by the government would repeal minimum staffing levels in tube stations introduced following the King's Cross fire.
At the centre of the dispute is a demand by the RMT for a four-day working week. LU has offered a cut in the working week from 37 to 35 hours but insists a four-day roster would be unaffordable without a steep rise in fares.
Speaking from a picket line at Leytonstone station, the RMT's regional organiser, Bobby Law, said tube drivers, signallers and station staff were working long hours in difficult conditions, under strict safety regulations: "Our members are saying they want more quality time away from work. The job is taking over people's lives."
Motoring organisations said many more commuters than usual had driven into town, ignoring an appeal by Mr Livingstone to either walk or use buses and overground trains. There were reports of police breaking up rows between commuters waiting in crowds seven deep at bus stops outside major rail stations.
AA Roadwatch said the morning rush hour had started early, with queues beginning to build by 6.30am.
The RAC reported particularly bad disruption in west London, with jams of 14 miles on the M4 and 15 miles on the A40 Western Avenue.
By mid-morning, LU said 30% of its trains were running, with a skeleton service on most lines. LU's managing director, Tim O'Toole, apologised to Londoners for the "difficult journey" which many people faced. But he added: "We are encouraged by the number of train drivers at work, which is allowing us to run more services than we expected."
Transport for London said buses would account for 7 million journeys - the largest number for 50 years. It deployed nearly 8,000 vehicles, bringing many out of retirement including one 55-year-old Routemaster.
The strike was condemned by the London Chamber of Commerce, which represents 3,500 businesses.
Spokesman Dan Bridgett suggested London's 2012 Olympic bid could be damaged: "It advertises around the world the continuing failings of London's transport network."
