According to Reuters, the natural disaster has left 14 dead so far, mainly in Port de Paix and Gros Morne in Artibonite near the quake's epicenter that struck at a depth of 11.7 kilometers, 20 km off Haiti's northwest coast, according to the U.S. Geological Survey.
The earthquake's epicentre was about 19 km northwest of the city of Port-de-Paix, the United States Geological Survey said.
In 2010, Haiti was hit by a catastrophic 7.0 magnitude quake that killed approximately 230,000 people.
Four people were killed in and around the town of Gros-Morne farther south, local authorities said, including a woman who died from a heart attack suffered after the quake.
President Jovenel Moise said he would send additional police and military to the region, promising to assist the families of victims.
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A 5.9 magnitude quake has killed at least 14 people in Haiti and injured more than 100. Port-de-Paix is the capital of the department.
Another person was killed in the town of Chansolme when a house collapsed and one other person in Saint-Louis-du-Nord.
There has been a report of at least one death, Frantz Duval, a journalist with the Haitian newspaper Le Nouvelliste, said on Twitter. It was not immediately clear if it had done any notable damage.
There was an unusual buzz of activity, however, at the site in Gros-Morne where a community center had collapsed. Emergency teams worked to provide relief in Haiti after the quake killed at least 11 people and left dozens injured.
A major global relief effort followed the devastating 7.0-magnitude quake that struck the island in January 2010, leaving more than 1.5 million people homeless.
Longer-term reconstruction has been hampered by lingering political chaos in the nation of almost 11 million people, and by a deadly cholera epidemic introduced by infected Nepalese UN peacekeepers sent in after the quake.