The tremor’s epicenter struck the city of Cushing, about 50 miles northeast of Oklahoma City, at 19:44 local time.
Quakes were felt as far away as Texas.
Authorities in Cushing reported “quite of bit of damage”, and schools in the city will be closed on November 7 so that buildings can be checked.
Photographs posted on Twitter showed debris scattered alongside commercial buildings in the city.
According to the US Geological Survey (USGS), there have been 19 earthquakes in Oklahoma in the past week.
In September, a 5.6-magnitude earthquake in Oklahoma fuelled concerns that seismic activity in the area was connected to energy production.
In 2013, scientists linked the underground injection of oil drilling wastewater to a 5.7-magnitude tremor that struck Oklahoma in 2011.
Cushing, which has a population of about 7,900, is home to one of the largest oil storage facilities in the US.
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