The US Geological Survey said the 32 kilometre deep quake hit in the early hours of this morning and was followed by a 5,3 magnitude tremor.
There have been no reports of a tsunami alert being issued.
There were no immediate reports of any casualties or major damage across Spain's southern coast.
Emergency services in the southern region of Andalucia said in a statement on their Twitter feed they had received 250 calls from alarmed residents.
The tremors and aftershocks were felt throughout the region, including in the cities of Malaga, Cordoba, Seville and Granada.
