The quake's epicentre was at a depth of 22 kilometres (13 miles), the US Geological Survey said, and was 165 kilometres west of Bengkulu on Sumatra island.
The earthquake hit at 11:06 pm (1606 GMT), waking people up, an AFP reporter said, but otherwise the effects were minimal.
The Hawaii-based Pacific Tsunami Warning Center did not issue an alert and said there was only a very small possibility of a local tsunami.
Indonesia sits on the Pacific "Ring of Fire," where the meeting of continental plates causes high volcanic and seismic activity.
A 7.6-magnitude quake that struck Sumatra island in September killed more than 1,000 people.
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