The discovery hints at the possibility of ancient life elsewhere in our galaxy, researchers said.
Dr Tiago Campante, an Asteroseismology Research Fellow at the University of Birmingham (UK) who led the research team, focused on a system of five terrestrial-sized planets observed by the Kepler space telescope transiting the star KOI-3158, about 117 light years from Earth in the constellation Lyra.
KOI-3158 is the closest and brightest multi-planet system detected so far by Kepler, said Campante.
In contrast, our own Sun and solar system is believed to be less than 5 billion years old.
The planets circling KOI-3158 are also familiar in terms of their size, with the innermost being about the size of Mercury, followed by three Mars-sized intermediate planets and a fifth and largest planet that is bigger than the other four, but a bit smaller than Venus.
"That implies that Earth-sized planets may have readily formed at earlier epochs in the universe's history when metals were more scarce," he said.
"KOI-3158, a system of terrestrial-sized planets, formed when the universe was less than 20 per cent of its current age, so that suggests that Earth-sized planets may have formed throughout most of the universe's history, leaving open the possibility for the existence of ancient life in the galaxy," he added.
