The 3.3 magnitude tremor was felt Sunday morning as far away as the Irish capital of Dublin and in parts of Wales.
The British Geological Survey said the quake hit at 10:58 a.m. local time about 15 miles west of Blackpool.
It was preceded by a foreshock near the same epicenter about six hours earlier.
The Irish National Seismic Network (INSN) said the quakes were probably caused by stresses built up from the weight of glaciers covering land during the Ice Age.
"Although Britain and Ireland are far from any plate boundaries, much of the region is still experiencing quakes due to the removal of the weight of ice sheets that once covered the land,” INSN director Tom Blake told reporters.
A slightly more powerful quake struck beneath the Irish Sea in May, and was also felt in Ireland, Wales and western England.