While some old buildings developed cracks, there was no report of loss of life or major damage.
The earthquake which occurred at 6:46 AM, had its epicentre at Kullu at a depth of 10 km, said Director of local MeT office, Manmohan Singh said, adding that aftershocks of 4.3 and 4.2 magnitudes were recorded at 7:05 AM and 9 AM respectively.
People in Rampur area of Shimla district and Kullu ran out of their houses in panic. They claimed there were ten to fifteen tremors in quick successions.
He added tents have been provided in open places for people unwilling to return to their houses and a huge tree at a school campus, which was posing risk, has been felled.
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Some old buildings in Ani area of Kullu, Kingal and Kumarsein developed cracks. Reports of boulders rolling down from hills have been reported interior areas of Rampur and Kullu, said officials.
People avoided going to office after the tremors, which were felt in Shimla, Solan, Chopal and parts of Sirmaur district.
District administration officials in Kullu and Shimla also said no loss of life or property has been reported.