The US Geological Survey (USGS) map tracks where the earthquake was felt when it hit just after 10pm local time on Tuesday (6am GMT on Wednesday).
The USGS said the epicentre of earthquake struck 5.6km (3.5 miles) east south-east of Interlaken in Santa California County, California.
Just a minute later, a 2.7 magnitude aftershock hit in a nearby location which was 5km (3.1 miles) east of Interlaken.
The earthquake happened along the San Andreas fault boundary, said USGS geophysicist Jana Pursley told the LA Times.
She added: ”Earthquakes do happen there quite frequently.”
The USGS’ crowd-sourcing programme reported shaking in Santa Clara and Santa Cruz counties as well as shaking from Monterey to San Francisco and Berkeley.
Reporter Elaine Leung tweeted: “That’s a first- Was “in the bathroom” when I felt an #earthquake or maybe a big rig rumbling down the street…
“Turns out 2 there were 2 #quakes, 1 minute apart in the #SouthBay (Santa Cruz Co.) #USGS says it was a 3.9, then a 2.7 at 10:02 & 10:03 pm- Felt all the way in #SF!”
Daniella Salinas tweeted: “I felt it ! And I’m in San Francisco Glen park area ! I knew it was a earthquake, super fast an a quick shake.”