The quake occurred at 11:27 a.m. and was centered about 3 miles east-southeast of Loma Linda, at a depth of about 9 miles, the USGS said.
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There were no immediate reports of injuries or damage.
ABC7 viewers said they felt the earthquake in Riverside and Colton.
"It was a fast, hard shake for me. I'm in Northern San Bernardino," Krystal Mead said on Twitter.
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Others, like Kevin Burke, were dismissive of the relatively small temblor.
"We're reporting 3.5 quakes now?" he tweeted.