Where we live we usually aren't the epicenter (at least in my lifetime), so usually just feel the 'rolling' (rolling felt normally when you are quite a distance away from a large quake where one would feel sharp jolts) when the large quakes hit within up to a 300-400 mile radius. While traveling in quake zones, we have felt up to a 5.5 quake near epicenter.... very frightening at the moment not knowing if this is the 'big one' that's going to swallow you up! Once is all said and done with no physical damage, you realize it wasn't that bad, but very scary none the less.
I may have felt many quakes in my life, but still when I feel one even today, I still tense up... after all, the 'big one' could surprise one unexpectedly; especially when that 'rare' one hits.
My grandkids moved up to Northern Cali quite close to the San Andraes a few years back. The day after they moved in, a quake hit. At six and seven years old, the older girls were terrified. Their quake was smaller than your daughter's. I can imagine your grandkids were quite frightened. My daughter hooked them up with this site
, which helped my grandkids to understand what was going on. If anything, make sure they know that after a 5+ quake, it is normal to have smaller aftershocks. Hope your family is ok.