The quake struck 60 kms east of Paradip at a depth of 10 kms at 9.52 PM, said L S Rathore, Director General, India Meterological Department.
Residents in some places of Odisha and Tamil Nadu moved out of their houses as soon as the quake struck and a few buildings developed cracks in Bhubaneshwar.
"The epicentre of the earthquake was in the Bay of Bengal with its coordinates being 18.1 degree north and 87.8 degree east, measuring 5.6 on the Richter scale," said Ministry of Earth Science Secretary Shailesh Nayak.
Residents of Punama Gate locality in Old Town area of Bhuaneshwar said cracks had appeared on the walls of some buildings and kitchen utensils fell off the racks.
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A report from Cuttack said electricity supply was snapped for about 15 minutes in some areas of the city after the tremor.
Panic gripped several parts of Odisha's Kendrapara district where residents felt the tremors for about 10 seconds.
"We were in the house and felt the jolts. Doors, windows and cots in the house all shook. We were terrified," said Sashmita, a homemaker.
A Chennai report said tremors were felt in parts of Nungambakkam, Porur and Triplicane where people rushed out of their homes.