That's a loaded question, as 'quakes come in multiple levels of strength, and the reaction from the earth. Much depends on layers of underlying rock, sand, or clay strata, and the direction from which the quake is coming.
But here's what it was like for us: it was a heck of a way to get waked up.
We could hear it coming for several seconds before it hit at 1:30 this morning, and that was loud enough to wake us up. First there was a low, growling rumble, then the side-to-side shaking started. The whole house was shaking at this point, and cabinet doors were opening a bit and then slamming shut.
Everything was rattling and squeaking, but the movement wasn't smooth. It was rough, almost gravelly, and the side-to-side motion was jerky and LOUD.
After quite a bit, there was a much sharper jolt, and then the shaking got worse.
The power went off, and glass bottles started hitting the kitchen floor, above our bedroom. At this point we tried to get up, to take "safe positions" in the voids on either side of the bed which would be formed if debris began to fall. But the shaking was bad enough that we couldn't stand up.
The shaking and jolts subsided slowly, and it was nearly another minute before we felt safe getting up. Then we grabbed flashlights and started checking for damage. Drawers and various cabinet doors were standing open. Every picture in the house was crooked, and the big screen TV on its wall mount had moved a foot away from the wall, and was pointing in a different direction.
There were a number of small items on the floor. But other than a bottle of olive oil with a spout, in the kitchen, nothing that hit the floor had spilled. My wife wants me to tell you that trying to clean up an oil spill by flashlight wasn't easy.
We eventually went back to bed, and slept through several dozen aftershocks, including a 4.5 that hit around 5:30.
So we're tired, and a little jumpy, and heading toward the couch for some Netflix-and-nap time.