Residents of the capital described their homes and offices shaking at around 10.25am local time (9.5am BST).
The US Geological Survey (USGS) measured the quake at magnitude 5.3, placing the epicentre in Central Italy at a depth of six miles (10km).
It struck just four miles from Amatrice, the town devastated in August's earthquake, which killed 234 of its residents.
There was no immediate indication of deaths or severe damage, the European-Mediterranean Seismological Centre said.
The quake was also felt in Lazio, Abruzzo and Marche, La Repubblica reported, being followed by four smaller aftershocks.
Small tremors have reportedly been felt in Rome for several weeks but Wednesday's was the biggest seismic event in several months.
It comes just months after a 6.2 magnitude earthquake killed at least 299 people in the country's central regions in August.
-Independent