The quake struck at 7:36 am local time (0306 IST), 318 kilometres (197 miles) east-northeast of the East Timor capital Dili in the Banda Sea at a depth of 18 kilometres, the US Geological Survey said.
The Pacific Tsunami Warning Center did not issue any alerts following the tremor in the remote region at the eastern end of the Indonesian archipelago between East Timor and the Maluku islands.
In an initial assessment, the USGS said there was a low likelihood of damage or casualties.
A 6.1-magnitude quake struck Indonesia's main island of Java in January, damaging dozens of buildings.
Another 6.1 quake that hit Aceh province on Sumatra island in July 2013 killed at least 35 people and left thousands homeless.
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