Those calling into national talk radio gave reports of broken windows and minor damage across central and southern parts of the North Island.
Residents of the area described a jolt followed by a rumble and 30 seconds of rolling when the quake struck at 11:25 p.m. local time.
Police in the cities of Hastings and Gisborne said the shaking had set off many alarms throughout the region, but caused no injuries or significant damage.
Shop owners said they found bottles and other merchandise knocked onto the floor when they opened the following morning.
The country’s GNS Earth Science agency said the epicenter was about 6 miles (10 km) southwest of Hastings at a depth of 18 miles (30 km).