There were no immediate reports of injuries, and the Indonesian Meteorological and Geophysics Agency said no tsunami was generated.
At least five houses caught fire due to electrical short circuits and an unknown number of others were damaged, said Capt. Derlin Hasan, a police spokesman in Manokwari, a city 10 miles from the epicenter.
People in coastal areas fled to higher ground fearing high waves, but authorities assured them there was no tsunami, he said.
The earthquake struck at a depth of 6.2 miles off the northern coast of Papua, 1,920 miles east of the capital, Jakarta, the USGS said.