The quake, which shook buildings in capital Taipei, had a depth of 72.4 km (45 miles), the weather administration said.
Taiwan lies near the junction of two tectonic plates and is prone to earthquakes.
More than 100 people were killed in a quake in southern Taiwan in 2016, and a 7.3 magnitude quake killed more than 2,000 people in 1999.
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