There was damage in the northern sections of the country, President Jovenel Moïse tweeted.
The civil protection agency issued a statement saying that houses were destroyed in Port-de-Paix, Gros-Morne, Chansolme and Turtle Island.
The quake's center was located about 12 miles west-northwest of Ti Port-de-Paix and struck with a depth of about 9.5 miles.
The tremor was one of the strongest to hit Haiti since a 7.0 magnitude quake struck near the capital, Port-au-Prince, in 2010, killing tens of thousands of people.
Another four people died in and around the town of Gros-Morne further south, including a boy struck by a falling building, said mayor Jean Renel Tide. He also said the government had sent water and food.
A magnitude 5.9 quake struck off the northwestern tip of Haiti Saturday evening.
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There was no tsunami warning in effect following the quake, which was felt across the country, the Haitian civil protection agency said.
No immediate damage or injuries had been reported.
This morning he told his 158,000 followers that he was en route to Port-de-Paix and Gros-Morne.
Residents stand looking at a collapsed school damaged by a magnitude 5.9 natural disaster the night before, in Gros Morne, Haiti, Sunday, Oct. 7, 2018.
The Nord-Ouest department is the poorest part of impoverished Haiti, with many areas isolated due to the dire state of the roads. Residents using saws or their bare hands scrambled to recover metal support rods from the debris for resale, before being chased away by authorities.
Local newspaper Le Nouvelliste said one person was killed when an auditorium collapsed in Gros-Morne and that detainees were released from a damaged police holding cell.
January, 2010 had seen a major quake of 7.1 magnitude that had killed over 200,000 people.