The quake hit at around 10:00 pm local time (16:20 GMT Thursday), some 16 kilometres (10 miles) north west of Kathmandu, at a depth of 25.9 kilometres, the US Geological Survey said.
According to the Himalayan Times, Friday's quake forced many locals to come out of their homes but the daily did not report any immediate damage or casualties.
Tremors were also felt in adjoining Bihar, Indian media reported.
In April 2015, a 7.8-magnitude earthquake ravaged Nepal, killing 9,000 people and destroying half a million homes.