Dozens of adobe homes in the Ica region were wrecked by the shaking at 1:54 p.m. local time.
Two adobe churches were also heavily damaged and left in danger of collapsing, including an 18th century cathedral in the provincial capital of Ica.
The shaking sent panicked residents rushing into the street in the same cities badly damaged four years ago by a temblor that killed nearly 600 people.
At least nine aftershocks jolted the region following Friday’s main jolt, with the most powerful generating a magnitude of 5.5.