The earthquake took place at around 10:38am (4:38pm, Singapore time), with its epicentre in the town of Alhendin, 10 kilometres (six miles) south of Granada, according to the National Geographical Institute.
It was the strongest in a series of earthquakes to hit the region on Tuesday morning, sending residents rushing out of buildings and into the streets.
Three people were lightly injured, including a girl who was taken to hospital, said Antonio Sanz, the Andalusia region’s top emergencies official.
Emergency services said they received more than 500 calls reporting cracks, falling debris and other earthquake-related incidents, including a dozen requests for medical assistance, mostly for anxiety attacks.
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