An undersea earthquake with a magnitude of 6.1 struck south of Indonesia's Bali Island on Tuesday, the European earthquake monitoring agency EMSC said, causing minor damage and prompting residents and visitors on the tourist island to briefly flee buildings.

There were no reports of casualties and no tsunami warning issued by the Hawaii-based Pacific Tsunami Warning Center or the Indonesian quake monitoring agency.

The epicenter was 102 km (62 miles) southwest of the island capital, Denpasar, and was 100 km (60 miles) below the surface, the EMSC said.