Delhiites rushed outside their homes in the wee hours of the chilly night as tremors were felt in the capital.
The India Meteorological Department (IMD) said the epicentre of the earthquake was located in southwestern Pakistan in the desert area bordering Iran and Afghanistan.
"It was a shallow earthquake which struck at a depth of 7.4 km," an IMD official said.
The epicentre of the quake was located at 28.9 degrees north on the latitude and 64 degrees east on the longitude, the IMD said.
A US Geological Service report said the epicentre of the earthquake was located 45 km from Dalbandin in Southwest Pakistan. It said the focal depth of the earthquake was 84 km.
There was no immediate report of any loss of life or property.
A 7.6 magnitude earthquake had devastated northern Pakistan and parts of Kashmir in October 2008, killing thousands of people.