The Seismological Network of Colombia said the quake struck at 10:43 am in the Pacific Ocean, 99 kilometres from the town of Nuqui in the department of Antioquia.
Colombian authorities ruled out the threat of a tsunami.
The Colombian report said it was felt especially strongly in the city of Quibdo, the capital of the department of Choco, where people ran out into the streets.
It was also felt in the departments of Quindio and Tolima.
Colombian seismologists said the quake, which was at a depth of less than 30 kilometres, had a reading of 6.5 on the Moment magnitude scale.