The quake hit at around 8:27 p.m. and it was centered about 22 miles southwest of Rancho Palos Verdes, around 11 miles deep.
A smaller, 2.9 earthquake hit the Malibu area earlier Sunday at around 3:35 a.m.
No damage or injuries were immediately reported.
WATCH | In case of an earthquake, here are the key items to keep in your emergency kit

In case of an earthquake, here are the key items to keep in your emergency kit