There was damage in the northern sections of the country, President Jovenel Moïse tweeted.
The police chief for the north-west region, Jackson Hilaire, said seven people died in Port-de-Paix, while the interior minister, Reynaldo Brunet, said three people had died further south in the town of Gros-Morne.
The USGS registered the quake some 19 km off Ti Port-de-Paix at a depth of 11.7 km.
In 2010, Haiti was hit by a catastrophic 7.0 magnitude quake that killed approximately 230,000 people.
Four others were killed in the town of Gros-Morne, about 50 kilometers to the southeast.
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A 5.9 magnitude natural disaster shook Haiti over the weekend, killing at least 12 people and injuring scores more.
A Haitian government spokesperson told AFP that at least 11 people died, at least some of them in buildings that collapsed.
The country's civil protection agency issued a statement saying several people were injured and some houses were destroyed in Port-de-Paix, Gros Morne, Chansolme and Turtle Island. The full extent of the damage was not clear though in parts of Port-de-Paix residents tried to go about their business normally on Sunday. Reuters could not immediately confirm the report.
There was an unusual buzz of activity, however, at the site in Gros-Morne where a community center had collapsed. Residents using saws or their bare hands scrambled to recover metal support rods from the debris for resale, before being chased away by authorities.
A woman watching the scene, 49-year-old Rosette Jerome, said no one in her neighborhood had been killed "but a child was seriously injured when a piece of the wall fell on it".