Thursday morning, a spokesman of the national agency of natural disasters, Sutopo Purwo Nugroho, reported three dead.
The quake was located in the Bali Sea and shook buildings for several seconds.
Meanwhile, Papua New Guinea's New Britain island was struck by a major 7 magnitude quake on Thursday, triggering a tsunami warning.
The USGS has estimated on its website that there was a "low likelihood of casualties and damage following the quake".
Nugroho further stated that tremors were felt in Lombok and Bali as well due to the quake, the epicentre of which was located in the ocean, approximately 55 km northeast of Situbondo Regency.
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As a result of the massive quake, the Pacific Tsunami Warning Center issued warnings about the possibility of a tsunami as an aftermath.
The country is still recovering after a 7.5-magnitude quake hit its mountainous interior in February, killing at least 125 people, cutting off access to villages and knocking out power. The epicentre of the tremors was located. Following the quake, at least two aftershocks were reported that scored more than 5 on the Richter Scale.
It caused brief panic among residents, but there is no potential for a tsunami and no immediate reports of damage or injuries.
The Pacific Tsunami Warning Centre said waves less than 0.3m high could be expected on coastlines in Papua New Guinea and neighbouring Solomon Islands. 1,948 people have lost their lives so far, while 2,500 people have been injured and nearly 75,000 are displaced, according to Al Jazeera.
Papua New Guinea sits on the Pacific Ring of Fire and is no stranger to earthquakes.