The quake struck at 10.16 am (0316 GMT) with the epicentre 143 kilometres south-west of Nusa Dua, at a depth of 10 kilometres, according to the Meteorology, Geophysics and Climatology Agency.
No tsunami warning was issued.
"I'm still shaking," said Stuart McDonald, an Australian living in Bali.
"There's no serious damage but stuff fell off walls," he said. "It was very loud." //DPA