The US Geological Survey said on Monday the quake's epicentre was located 6 kilometres northwest of San Jose Pinula and had a depth of 200 kilometres.
"So far we have received no reports of damage and we're monitoring nationwide," said Mario Cruz, a spokesman for firefighters.
The quake was only 9 kilometres from Guatemala's capital, but was barely felt, perhaps because of its depth.
In November 2012, a magnitude-7.4 earthquake left 42 people dead in Guatemala. The quake, which was just 32 kilometres deep, was centred off the coastal town of Champerico. It was the strongest earthquake to hit Guatemala since a 1976 temblor that killed 23,000.