The local emergencies ministry said tremors were felt along the coast including in the region's capital Petropavlovsk-Kamchatsky.
"Operational teams of rescuers and firefighters are inspecting buildings," the regional branch of Russia's emergencies ministry in the Kamchatka region said on Telegram.
The earthquake struck at a depth of nearly 50 kilometres (30 miles) just after 7:00 am local time, some 90 kilometres east of Petropavlovsk-Kamchatsky, the United States Geological Survey reported.
The US National Tsunami Warning Center had initially issued a tsunami threat, but later said the threat had passed. Local authorities never issued a tsunami alert.
Several aftershocks were recorded after the initial quake, but of lower intensity, the Kamchatka branch of Russia's Unified Geophysical Service reported on its website.
The peninsula lies on a seismically active belt surrounding most of the Pacific Ocean known as the "Ring of Fire", and is home to more than two dozen active volcanoes.
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