The US Geological Survey (USGS) reported the quake hit at 10:23am, about 72 kilometres west of New York City and 80km north of Philadelphia at a depth of 4.7km.
At 6:59pm there was a small but noticeable aftershock, which had a magnitude of 4.0, according to the agency.
The epicentre of the quake on Friday morning (local time) was near Lebanon, New Jersey, according to the USGS.
The earthquake was felt across the region, including in New York City, New Jersey, northern Pennsylvania and western Connecticut, according to Reuters journalists and social media.
