'An interagency team is already evaluating the needs together with the Indonesian government,' said the agency's Indonesia chief, Ignacio Leon-Garcia.
He said the government had sent several trucks carrying tents, clothing and kitchen utensils to the affected areas.
The Indonesian Red Cross said it was distributing 1,500 family tents, clean water, tarpaulins, and family and hygiene kits.
The quake also jolted the capital, Jakarta, shaking buildings and sending residents running out of their homes and high-rise office towers screaming in panic. A tsunami alert was issued but cancelled less than an hour later.
Officials said at least one person was killed and 27 injured in Jakarta, where the tremor caused cracks in some buildings and shattered windows.
Indonesia, the world's largest archipelago nation, sits on the so-called Pacific Ring of Fire, which is prone to earthquakes and volcanic activity because continental plates meet there.
A magnitude-7.7 earthquake struck the southern coast of West Java in July 2006, killing more than 600 people and leaving tens of thousands homeless.