The shallow quake struck near the city of Paratebueno in central Colombia, some 170 kilometres east of Bogota, the USGS said.
Buildings shook, sirens blared around the capital and people rushed out into the streets, while social media users posted videos of swinging lights and furniture.
Scores of people gathered in parks and outside buildings in their pajamas, with parents trying to calm frightened kids and others looking for pets that had run away.
“This was very strong,” said an elderly lady in Bogota trying to make her way down several flights of steps.
Bogota’s security department said on X that emergency workers were conducting a sweep of the city to look for damage and provide assistance.
Central Colombia is in a zone of high seismic activity. A 6.2 magnitude quake there in 1999, not far from Ansermanuevo, claimed nearly 1,200 lives. (AFP)