The quake hit 37 kilometres (23 miles) north-northeast of the city of Mansehra, the US Geological Survey said.
It was followed by two aftershocks with a magnitude of 3.2 and 4, Pakistan's meteorological department said.
The quake was also felt in surrounding towns and districts, including the capital Islamabad and in parts of Azad Kashmir.
Zarif Ul Maani, a senior official in Batgram district neighbouring Mansehra told AFP that at least five people were injured and taken to hospital.
Two houses were also damaged, Maani said.