Italy's Institute of Geophysics and Volcanology said the quake struck at 12:33 (1603 IST) in a mountainous region near the Tuscan coast between the provinces of Massa e Carrara and Luca.
Mayor Riccardo Ballerini of Lunigiana, near the epicenter, told Sky TG 24 that some buildings in his town had sustained damage, including collapsed walls, but that there were no reports of injuries.
The quake, which struck at a depth of five kilometres, was felt as far away as Milan, Verona and Florence, a radius of more than 160 kilometres.
The news agency ANSA said many people in the town of Carrara near the epicenter left their houses in fear, but that there were no immediate signs of damage.