A minor earthquake shook Massachusetts but there were no reports of damage or injuries.

The Weston Observatory at Boston College said the magnitude 1.5 earthquake struck just after 8 p.m. Tuesday.

It was centered on the Medfield-Millis-Medway area.

Holliston police said they took several calls from residents who reported hearing a rumbling noise.

Medway police say they handled about 50 calls.

Dayna Burke, of Medway, told WFXT-TV that she heard an explosion followed by rumbling and felt her house shaking.