The earthquake was centered about 67 kilometers southeast of Pondaguitan, a coastal community in Davao Oriental, at a depth of 111.9 kilometers, USGS data showed.
There were no immediate reports of casualties or significant damage, local authorities said.
The Philippines' disaster monitoring agencies continued to assess the situation, while officials reported no tsunami threat following the quake.
The tremor occurred days after a powerful 7.8-magnitude earthquake struck the Mindanao region on June 8, killing at least 61 people and injuring more than 1,040 others, according to official figures.
The Philippines lies along the Pacific Ring of Fire, a seismically active zone where earthquakes and volcanic activity occur frequently due to the movement of tectonic plates.
The latest quake is not expected to cause widespread damage because of its relatively deep depth, though authorities urged residents to remain alert for possible aftershocks.
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