The temblor hit at 12:29 p.m. and was centered 23 miles east-southeast of Santa Rosa Island and 36 miles southwest of Channel Islands Beach, according to the USGS.
The Los Angeles Fire Department went into "earthquake mode", meaning firefighters from all neighborhood fire stations conducted a survey of their areas.
"Year of a disaster is unknown, but impacts are very predictable", said seismologist Jones.
One woman said the quake's "rolling motion" caused walls to creak and items to swing in Torrance.
Seismologist Lucy Jones told NBC Los Angeles: "This is a completely normal sort of quake for Southern California".
In 2008, the US Geological Survey found there was a 99% chance of a huge quake hitting California, which sits on the "Ring of Fire". The agency initially said the earthquake's depth was 10.4 miles, but later updated figure to 6.2 miles. That quake was a 5.1.
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Ventura County officials announced they are "in a heightened response posture to assist our citizens" in wake of Thursday's temblor.
Maridel Jamero, Office of Civil Defense (OCD) operator, said in an interview Thursday that they did not receive any information on damages or casualties.
He advised residents of Ventura County to visit VCreadysetgo.org and be prepared for other incidents.
"We recognise that the probability of having a large quake goes up".
"I just know things were moving, and then I was like, 'Wait, was that what I think it was?" said the woman. "Being prepared is always your best bet to help yourself".
This is a developing story.