The epicentre was about 60 miles south of island capital Denpasar, according to the European-Mediterranean Seismological Centre. No casualties have been reported.
Reuters reports neither the Hawaii-based Pacific Tsunami Warning Centre or its Indonesian counterparts have issued any tsunami warnings.
The quake was felt on the neighbouring islands of Lombok and Java, where there have been significant seismic activity over the past 12 months.
Reports in local Bali media suggest some damage to infrastructure and destinations include hotels and temples. The Indonesian transport ministry has confirmed the island’s main Denpasar airport was operating as normal on Tuesday.
The Foreign Office has not issued any updated advice for travellers in the area.
The region is prone to earthquakes, with Indonesia and its many islands lying on the Pacific Ring of Fire.