The quake struck near Kae'na Point in Hawaii Volcanoes National Park on the Big Island at 4:36 p.m. at a depth of five miles, according to a report from the U.S. Geological Survey. The epicenter was about 25 miles south of Hilo and 220 miles southeast of Honolulu.
There is no tsunami threat, the National Weather Service said.
The largest of the aftershocks, a magnitude-3.0, came about 10 minutes after the original quake.
Joe Lopez, 70, said he felt a "pretty good jolt" at his home in Hilo.
Lopez told the Honolulu Star-Advertiser the quake sent books and other items tumbling to the floor.