The earthquake was centered 2 miles north of Piedmont and struck around 2:52 p.m, according to the US Geological Survey.
A map on the website of the USGS shows the epicenter directly underneath Highway 24.
ABC7 News viewers on Twitter said they felt the earthquake in Alameda, Emeryville and Oakland.
There was a 15 minute system-wide delay on BART due to the earthquake. There have been no reports of damage or injuries.