Underground shocks were registered at 9:56 a.m. (1:56 GMT) in Taitung County. The epicentre of the earthquake was located at a depth of 10 kilometres (6.2 miles).
There have been no immediate reports about casualties or damage inflicted by the earthquake.
Last year, a 6.0-magnitude earthquake hit 104 km (65 miles) off the Taiwanese coastal city of Hualien.
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Beijing does not recognise Taiwan's independence and claims the island is part of China. Taiwan similarly does not recognise the central government in Beijing.