  We report a measurement of the flux-integrated $\nu_{\mu}$ charged-current
cross sections on water, hydrocarbon, and iron in the T2K on-axis neutrino beam
with a mean neutrino energy of 1.5 GeV. The measured cross sections on water,
hydrocarbon, and iron are $\sigma^{\rm{H_{2}O}}_{\rm{CC}}$ = (0.840$\pm
0.010$(stat.)$^{+0.10}_{-0.08}$(syst.))$\times$10$^{-38}$cm$^2$/nucleon,
$\sigma^{\rm{CH}}_{\rm{CC}}$ = (0.817$\pm
0.007$(stat.)$^{+0.11}_{-0.08}$(syst.))$\times$10$^{-38}$cm$^2$/nucleon, and
$\sigma^{\rm{Fe}}_{\rm{CC}}$ = (0.859$\pm 0.003$(stat.)
$^{+0.12}_{-0.10}$(syst.))$\times$10$^{-38}$cm$^2$/nucleon respectively, for a
restricted phase space of induced muons: $\theta_{\mu}<45^{\circ}$ and
$p_{\mu}>$0.4 GeV/$c$ in the laboratory frame. The measured cross section
ratios are ${\sigma^{\rm{H_{2}O}}_{\rm{CC}}}/{\sigma^{\rm{CH}}_{\rm{CC}}}$ =
1.028$\pm 0.016$(stat.)$\pm 0.053$(syst.),
${\sigma^{\rm{Fe}}_{\rm{CC}}}/{\sigma^{\rm{H_{2}O}}_{\rm{CC}}}$ = 1.023$\pm
0.012$(stat.)$\pm 0.058$(syst.), and
${\sigma^{\rm{Fe}}_{\rm{CC}}}/{\sigma^{\rm{CH}}_{\rm{CC}}}$ = 1.049$\pm
0.010$(stat.)$\pm 0.043$(syst.). These results, with an unprecedented precision
for the measurements of neutrino cross sections on water in the studied energy
region, show good agreement with the current neutrino interaction models used
in the T2K oscillation analyses.
