Locals reported their homes shaking around 9.30pm yesterday in Townsville, with small tremors felt by residents as far north Cairns and as south as Mackay.
The earthquake was recorded 17km from Townsville at a depth of 10km, according to Geoscience Australia.
Around 4500 people in Queensland reported feeling the tremors.
The Joint Australian Tsunami Warning Centre has confirmed there is no tsunami threat to the Australia’s mainland, islands or territories.
Some locals reported feeling like there was an “explosion” during the earthquake.
“Such a strange feeling to suddenly have this weird force racing beneath you, making your home shudder, and then some kind of explosion,” said Townsville local Barbara Hannay.
CCTV footage from around the region shows homes trembling as the earthquake hit.
A smaller 3.3 magnitude earthquake was also felt in Muswellbrook, NSW around 10pm.
Only 189 reported feeling tremors for this quake, which had a depth of 1km.