More than 5,300 people from as far away San Diego and Bakersfield reported feeling the tremor to the agency so far.
Magnitude measures the energy released at the source of the earthquake, the U.S. Geological Survey says. It replaces the old Richter scale.
Quakes between 2.5 and 5.4 magnitude are often felt but rarely cause much damage, according to Michigan Tech.
The best way to protect yourself during an earthquake is to drop, cover and hold on, officials say.
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