The quake struck just before 10 am (2255 GMT Saturday) at a depth of 132 kilometres (82 miles), around 350 kilometres southeast of the capital Port Vila.
The Pacific Tsunami Warning Center said there was no destructive tsunami generated.
Vanuatu lies on the so-called "Pacific Ring of Fire", a zone of frequent seismic activity caused by friction between shifting tectonic plates. (C003/K004)
Editor: Kunto Wibisono
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