The 10-kilometer (six-mile) deep quake hit at 3:14 am (0814 GMT) and was located some 59 kilometers southwest of the Sinaloa town of Topolobampo, according to the US Geological Survey.
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The USGS reported an aftershock of magnitude 5.2. Temblors of magnitudes of 4.9 and 5.3 had shaken the same area less than 35 minutes before the bigger one.
"For the moment, there are no reports of damage after the earthquakes a few minutes ago in #BajaCalifornia and #Sinaloa," national civil protection coordinator Luis Felipe Puente said on Twitter about an hour after the USGS report.
Read: Report: Natural disasters forced 20m from homes in 2014
He said the temblors were only "lightly" felt in the region.
Baja California is known for its resorts in Los Cabos, which attract tourists from the United States and other countries.
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