A 5.1 magnitude earthquake has struck in Waikato.

GeoNet reports the quake hit five kilometres south of Te Aroha, at a depth of 7km, just after 5.30am.

More than 20,000 people have reported feeling shaking.

Kiwis on Twitter reported feeling the quake in Tauranga, Hamilton, Cambridge and Pukekohe.

Tauranga resident Gary told Newstalk ZB it started off with a real good jolt, then a few smaller jolts.

He says it carried on rolling for about 20 seconds.

Colleen Firth also felt the quake in Katikati.

”I was asleep, and I woke up to the whole house shaking.”

She says it was noisy, and lasted for about a minute.

A Pāpāmoa resident said she felt the quake at 5.49am and the whole house shook.

Other people took to social media and Shelley Wood said “yes felt bed shaking!” while Marama Mateparae said “yes - woke me up”.

Northern fire communications said they had not received any reports of significant damage or calls for assistance following the strong quake.

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