The quake struck at a depth of 10 kilometres (6 miles) some 190 kilometres south of the New Britain town of Rabaul at 5:57 pm local time (0757 GMT), the US Geological Survey said.
PNG sits on the so-called Pacific Ring of Fire, a hotspot for seismic activity due to friction between tectonic plates.
The country is still recovering after a 7.5-magnitude quake hit its mountainous interior in February, killing at least 125 people, cutting of access to villages and knocking out power.
Its remote terrain means it often takes several days for information about damage from quakes to reach officials and aid agencies.
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