The tremors were felt in Islamabad, Rawalpindi, Peshawar, Malakand, Swat, Lower Dir, Abbottabad, Mansehra and several areas of Gilgit-Baltistan.
"There are no reports of loss of life and material," Radio Pakistan reported.
Pakistan is located in active seismic zone and frequently visited by earthquakes.
A powerful 7.6-magnitude quake in Pakistan killed more than 74,000 people in 2005.