The quake's epicenter was in the Sindhupalchowk district, 55 km north-east of Kathmandu, according to The National Seismological Centre, news agency Press Trust of India reported.
People were injured as they ran from their houses in panic during the tremor, the Nepal home ministry spokesperson said.
Tremors were also felt in adjoining Bihar, as the moderate quake brought back memories of the massive 7.9 magnitude earthquake that struck Nepal last year on April 25.
The capital city and adjoining areas had suffered extensive damage in last year's quake on April 25 that killed nearly 9,000 people, injuring many more and rendering people homeless.
There have been over 400 aftershocks measuring 4 or more on the Richter scale.
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