Italy’s National Institute of Geology said the quake struck at 3:48 p.m. local time.
Institute official Alberto Michelini said the quake was centered about 18 miles north of Viareggio, a Tuscan sea resort.
Shaking was most strongly felt in the regions of Tuscany and Emilia Romagna.
People in Milan skyscrapers and others in the Tuscan capital of Florence and in Bologna reported feeling the quake.
Earthquakes occur frequently across Italy. A powerful jolt in April 2009 killed more than 300 people in the central city of L'Aquila.
A 6.0 magnitude temblor last May killed at least seven people in the Emilia-Romagna region of the Po Valley.
It was followed just over a month later by a comparable quake in the same area that killed 17 others.