Residents were awoken by the tremor at 6:15 am.
Tourists were spooked by the quake, running out of their hotels and onto the streets, according to Italian news agency ANSA.
There are currently no reports of injuries or structural damage due to the earthquake.
The quake, which was followed by several light aftershocks, was reportedly felt strongly in the 25 towns in the east of province of Palermo, including Lascari, Campofelce di Roccella, Cafalù and Gratteri.
“I felt the wardrobe dancing in the bedroom,” Cefalù Mayor Rosario Lapunzina said.
The tremor could affect train services to allow for the examination of tracks and rail infrastructure, as required when Italy registers earthquakes with a magnitude of more than 4.
Sicily has experienced several extreme weather events in recent months, including bushfires and a surge in volcanic activity on Mount Etna.
