On April 23rd 2017, an earthquake occurred 3 kilometers (1.8 miles) East, Southeast of Millersville, Pa in Lancaster County. It was a magnitude 2.3 earthquake and was 5 kilometers (3.1 miles) deep. No injuries were reported and there was no damage done to structures. It did create hundreds of calls to the 911 center in Lancaster County and surrounding areas. Below we have a shake map of who felt the earthquake. Hundreds of small earthquakes happen every day but we do not feel most of them. For more details and maps, please visit the link below:
https://earthquake.usgs.gov/earthquakes/eventpage/ld60134206#executive

From the USGS:

Earthquakes in the Lancaster Seismic Zone

Since colonial times, people in the Lancaster seismic zone of southeastern Pennsylvania have felt small earthquakes and suffered damage from larger ones. Earthquakes are felt once or twice per decade, with some decades having none and the 1990s having as many as six.

Earthquakes in the central and eastern U.S., although less frequent than in the western U.S., are typically felt over a much broader region. East of the Rockies, an earthquake can be felt over an area as much as ten times larger than a similar magnitude earthquake on the west coast. A magnitude 4.0 eastern U.S. earthquake typically can be felt at many places as far as 100 km (60 mi) from where it occurred, and it infrequently causes damage near its source. A magnitude 5.5 eastern U.S. earthquake usually can be felt as far as 500 km (300 mi) from where it occurred, and sometimes causes damage as far away as 40 km (25 mi).

Faults

Earthquakes everywhere occur on faults within bedrock, usually miles deep. Most bedrock beneath the seismic zone was assembled as continents collided to form a supercontinent about 500-300 million years ago, raising the Appalachian Mountains. Most of the rest of the bedrock formed when the supercontinent rifted apart about 200 million years ago to form what are now the northeastern U.S., the Atlantic Ocean, and Europe.

At well-studied plate boundaries like the San Andreas fault system in California, often scientists can determine the name of the specific fault that is responsible for an earthquake. In contrast, east of the Rocky Mountains this is rarely the case. The Lancaster seismic zone is far from the nearest plate boundaries, which are in the center of the Atlantic Ocean and in the Caribbean Sea. The seismic zone is laced with known faults but numerous smaller or deeply buried faults remain undetected. Even the known faults are poorly located at earthquake depths. Accordingly, few, if any, earthquakes in the seismic zone can be linked to named faults. It is difficult to determine if a known fault is still active and could slip and cause an earthquake. As in most other areas east of the Rockies, the best guide to earthquake hazards in the Lancaster seismic zone is the earthquakes themselves.