The quake hit a depth of 73 km and took place at 4:06 am (local time) or 4:06 pm (UTC time), the agency said.
The epicentre of the quake was located south of the Kermadec Islands, according to USGS.
There are no reports of any casualties, injuries or damage to property. No tsunami warning has been issued.
New Zealand lies in the 'Ring of Fire', an area in the basin of the Pacific Ocean, which is vulnerable to frequent earthquakes and volcanic eruptions.
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