The quake struck at 2:41 a.m. and was followed by more than a dozen aftershocks.
A 7-Eleven employee was working at the time. He says it felt much stronger than the magnitude recorded. "Everything was vibrating," he said.
The quake struck along the Hayward fault line and was felt by many East Bay residents.
"It woke up almost everybody in the house," said Albert Dicochea, a Fremont resident.
"It was on the Hayward fault, which is large fault that we expect to rupture in the next big earthquake. Since then, there have been 14 aftershocks, the largest which was a magnitude 2.7," explained AnneMarie Baltay with the U.S. Geological Survey.
@abc7newsBayArea and peeps..don't forget to report that you felt it on the USGS site. Short survey.— mary b (@zukeferd) July 21, 2015
Fremont police say they received numerous calls from scared and nervous residents.
There were no injuries or damage reported.
Meanwhile, there were some delays on BART. Around 4:30 a.m., BART reported 30-minute delays as the tracks were inspections. Just before 5 a.m., all of the tracks had been inspected and trains returned to normal speed.
The quakes come nearly a year after a magnitude 6.0 earthquake struck the region. The August 2014 quake was the largest to hit Northern California in a quarter-century. That quake killed one woman and caused about $400 million in property damage in Napa Valley.
If you would like to report that you felt, click here to report it to USGS.
@abc7newsBayArea felt it in south San Jose. My dog woke me up and then I felt a quick jolt. My dog is probably the best warning system yet!— Lorral_thebluecoat (@LorralWhaley) July 21, 2015