The temblor struck around 7:20 a.m. with an epicenter 10 miles west of Malibu and 12 miles south-southwest of Thousand Oaks, the USGS said.
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Eyewitness News viewers in Ventura, Camarillo and Oxnard reported feeling the quake.
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About an hour later, there were two additional earthquakes further north magnitudes 3.4 and 3.7, both happening approximately 11.2 miles north-northeast of Coso Junction in Inyo County
There were no immediate reports of injuries or damage.