There were no reports of casualties and no tsunami warning issued by the Hawaii-based Pacific Tsunami Warning Center or the Indonesian quake monitoring agency.
The epicenter was 102 km (62 miles) southwest of the island capital Denpasar and was 100 km (60 miles) deep, the EMSC said.
One resident said people in Denpasar ran out of their boarding house in pyjamas after feeling the quake.
Indonesia suffers frequent earthquakes, sometimes causing tsunamis, because it lies on the seismically active Pacific Ring of Fire.
Its Moluccas islands were hit by a powerful 7.2 quake on Sunday that killed at least two people and prompted hundreds to flee their homes.
The most devastating tremor in recent Indonesian history was on Dec. 26, 2004, when a magnitude 9.5 quake triggered a tsunami that killed around 226,000 people along the shorelines of the Indian Ocean, including more than 126,000 in Indonesia.
A tsunami also hit the city of Palu in Sulawesi last year, killing thousands.
Based on Reuters
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