The tremors which occurred at 11.20 pm lasted four to five seconds and the intensity of earthquake with epicentre at Kangra was 4.5 on the Richter scale, the Indian Meteorological Department said.
Tremors were felt in Dharamsala, Palampur, Jwalamukhi and surrounding areas.
However, no loss of life or property was reported from any part of the state, sources said.
Kangra falls in seismic zone V and is highly prone to earthquakes.