The Malaysian Meteorological Department reported on its Facebook page that the 4.1-magnitude quake occurred at 6.13am, about 5 kilometres west of Segamat, Johor, at a depth of 10 kilometres.
The tremors were felt across much of Johor as well as in Negeri Sembilan, Malacca and southern Pahang.
Authorities said they are continuing to monitor the situation closely, and no tsunami warning had been declared as of press time.