The governor of East Nusa Tenggara Province, Emanuel Melkiades Laka Lena, told a press conference the five people died from collapsing rubble as they slept.

Authorities issued a tsunami warning but later lifted it when Indonesia’s Meteorology, Climatology and Geophysics Agency said monitoring showed no significant sea-level changes that would pose a threat to coastal communities.

The US Geological Survey said the quake hit Indonesia’s Flores region with a depth of 10km (6.2 miles) at 5.58am local time. Its epicentre was 68km north-northwest of the city of Ende in East Nusa Tenggara province. The initial quake was followed by several aftershocks.

Preliminary reports from the Maumere Search and Rescue Agency said that at least two residents were killed and two others injured as the earthquake caused severe damage and collapsed buildings, according to Indonesia’s disaster management agency.

Footage on local television showed patients at several hospitals being evacuated from buildings as a precaution following the quake. Hospital staff moved equipment outdoors, including beds, IV stands and oxygen cylinders, and set up temporary treatment areas to adapt to emergency conditions.

The quake was felt across much of Flores Island with initial reports indicating heavy damage.