Crockery was broken and wardrobe doors rattled when an earthquake measuring 3.6 on the Richter scale hit Herefordshire and Worcestershire.
The epicentre was around four miles from Bromyard and police received reports of the quake affecting the area between Malvern and Worcester when it struck just after 6pm.
A spokesman for West Mercia Police said: "It was a very minor tremor. We have had about 15 to 20 calls from members of the public at most."
David Galloway, a seismologist at the British Geological Survey, said: "People have described it as a lorry crashing in to the side of their house and on analysis of our instruments there has been an earthquake of 3.6 on the Richter Scale.
"We record about 200 earthquakes a year but most go unnoticed by the general public. One or two a month are felt and this was quite widely felt.
"We have had no reports of any injuries and nor would we expect to. The only reports we are getting is maybe crockery has fallen but there is no significant damage."
One resident from Malvern said: "I saw the wardrobe doors rattle and thought someone was trapped in it. It was terrifying.
"I looked out the window to see if a car might have crashed into my house but realised it must have been an earthquake."
In February, Britain was hit by its largest earthquake for almost quarter of a century.
Tremors were felt in areas including Merseyside, Birmingham, Leicestershire, Bedfordshire, Norfolk, Surrey and Greater London.
Its epicentre was 15 miles north of London and measured 5.3 on the Richter scale - the largest in Britain since 1984.
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