Hazardous tsunami waves from the natural disaster were possible within 300 km of the epicenter along Papua New Guinea coastlines, the Pacific Tsunami Warning Center said.
An earthquake collapsed homes on Indonesia's Java island, killing at least three people, and shook the tourist hotspot of Bali on Thursday, two weeks after a major quake-tsunami disaster in a central region of the archipelago.
No tsunami warning was issued for the quake.
The National Disaster Mitigation Agency (BNPB) has confirmed that three people have died as a result of the quake: a seven-year-old boy, a 55-year-old woman and an as-yet-unidentified adult man, all located in Prambanan village, Gayam district, Sumenep regency.
Australia's Tsunami Warning Centre said its coastlines were not at risk.
The magnitude 6.0 quake struck at 7.44am on Thursday (NZT) at a depth of 9 kilometres.
"We felt the natural disaster a bit, but it was not too strong", Constable Roy Michael told Reuters by phone from Rabaul police station.
He said there was no damage in the town, but officers had not yet been able to contact villages closer to the epicentre. Stretches of the coastline were trashed by the tsunami that Mr. Nugroho said had waves up to 11 meters (36 feet) high.
Some guests at the hotel in Nusa Dua, south of Bali's main global airport, briefly fled outside after the strong tremor shook the building.
Indonesia's disaster agency said the nighttime quake was centered at sea, 55 km northeast of Situbondo city, and also felt in Lombok.
It said "the quake was felt quite strongly by people in Sumenep and Situbondo for 2-5 seconds".
The quake struck during the annual meetings of the International Monetary Fund and World Bank, but no one associated with those meetings in Bali was affected, according to early reports. "People were sleeping but got woken up by it", Tonny Akbar Mahendro told AFP.
Indonesia suffered a powerful 7.5 magnitude natural disaster and tsunami last month on the island of Sulawesi, with the death toll now standing at more than 2,000 people.
Photographs of missing persons are displayed on a wall after the tsunami and quake on October 10, 2018 in Palu, Indonesia.
This is where numerous world's natural disasters occur due to it sitting on top of continuously sliding tectonic plates.