The British Geological Survey (BGS) said the quake happened at 11.14pm with the epicentre in Grimsby at a depth of 11 miles.
The BGS said it received reports including how 'the whole house shook for a couple of seconds', 'the bed started to shake' and 'the radiator jolted'.
Someone 'thought it was a lorry crashing outside'.
The BGS added that such earthquakes were not uncommon in the UK and happened around every two years.
Ten years ago, a 5.2-magnitude quake in Market Rasen, Lincolnshire, was felt widely across England and Wales.
And earlier this year, on February 17, a earthquake occurred in Cwmllynfell in South Wales which registered a magnitude of 4.6.