The quake was detected at a depth of 11 miles at around 11.15pm on Saturday evening. No injuries were reported.
BGS said an earthquake of this strength occurs approximately every two years in the UK.
People living locally reported feeling “the whole house [shake] for a couple of seconds", while others said they "heard a rumble with a simultaneous trembling" or "thought it was a lorry crashing outside".
"Worldwide there are approximately 8000 events annually that are larger than the one that occurred in Lincolnshire," BGS said.
It comes nearly a decade after the 5.2-magnitude earthquake in Market Rasen, Lincolnshire, which was felt widely across England and Wales.
Having survived (!) the 2008 #earthquake centred on Market Rasen, tonight’s was far shorter and less violent. My blinds definitely didn’t wobble as much, but the dining room table rattled!— Phillip Norton (@phillipnorton) June 9, 2018
But that sound....the deep rumble coming from below earth...that’s pretty unnerving!!
The largest earthquake this year took place in Cwmllynfell in south Wales on 17 February and registered a magnitude of 4.6.