According to the U.S. Geological Survey, the quake's epicenter was about 19 kilometers northwest of the coastal town of Port-de-Paix.
President Jovenel Moïse also tweeted that civil protection workers are already working to assist people in affected areas.
The epicentre of the quake was about 19 km, north-west of the city of Port-de-Paix. It was only 7.2 miles deep.
Another four people died in and around the town of Gros-Morne further south, including a boy struck by a falling building, said mayor Jean Renel Tide.
Haitian officials said a convoy bringing food and drinking water was headed to the afflicted zone.
Haiti, the Western Hemisphere's poorest country, has never fully recovered from the 7.1-magnitude quake in 2010 that killed more than 200,000 people and left about one million people homeless.
Le Nouvelliste newspaper said one person died when an auditorium collapsed in the town of Gros Morne, and that detainees were released from a police holding cell that was damaged.
We may see Tropical Storm Michael form today
By Wednesday, however, environmental conditions are expected to become unfavorable for any significant development to occur. We could see some tropical downpours and storms here in the Midlands, all depending on the track of this potential system.
The quake struck near the northernmost tip of Haiti late on Saturday, causing damage to buildings, including an auditorium that collapsed and a hospital, authorities and media reported. Port-de-Paix is the capital of the department.
The civil protection agency issued a statement saying that houses were destroyed in Port-de-Paix, Gros-Morne, Chansolme and Turtle Island.
Reportedly, the damage was concentrated in the northwest region of the island, with two minor aftershocks were also felt thereafter.
Impoverished Haiti, where many live in tenuous circumstances, is vulnerable to earthquakes and hurricanes.
A woman watching the scene, 49-year-old Rosette Jerome, said no one in her neighborhood had been killed "but a child was seriously injured when a piece of the wall fell on it".
January, 2010 had seen a major natural disaster of 7.1 magnitude that had killed over 200,000 people.
Damage was estimated to total 120 percent of GDP in Haiti, the poorest country in the western hemisphere.