The seismometer, developed by the French government agency National Centre for Space Studies, detected the first subtle quake-like rumble on April 6, according to a statement.
Scientists say the source for this "Marsquake" could either be movement in a crack inside the planet or the shaking from a meteorite impact.
NASA says this is the first recorded trembling that appears to have come from inside the planet as opposed to being caused by forces above the surface, such as wind.
The lead scientist responsible for the spacecraft, Bruce Banerdt of NASA's Jet Propulsion Laboratory in Pasadena, Calif., said the recent observation is a continuation of the scientific work begun by the Apollo moonwalkers almost half a century ago.
The marsquake stood out because the surface of Mars is extremely quiet in comparison with Earth. "We're looking forward to sharing detailed results once we've studied it more and modelled our data".
NASA's Apollo astronauts installed five seismometers that measured thousands of quakes while operating on the Moon between 1969 and 1977, revealing seismic activity on the Moon.
If this had happened on Earth, it probably wouldn't have been detected above the surface vibrations caused by weather and oceans. "An event of this size in southern California would be lost among dozens of tiny crackles that occur every day". The seismometer is called Seismic Experiment for Interior Structure, or SEIS.
After landing on Mars last November, the InSight probe first deployed a suite of meteorological equipment and then began to check the health of its science instruments.
According to NASA, the InSight's seismometer, which was installed on the surface of Mars on December 19, 2018, will enable scientists to gather data about the deep interior of Mars, allowing scientists to learn about how other rocky worlds, including Earth and Mars, formed.
Researchers are still analyzing the data, as well as three other even fainter seismic signals detected since mid-March.
While earthquakes are primarily driven by tectonic plates (which are composed of both Earth's crust and the outer layer of its mantle), Mars doesn't have tectonic plates. Mars and the Moon do not have tectonic plates, but they still experience quakes - in their cases, caused by a continual process of cooling and contraction that creates stress.
The InSight seismometer prior to receiving its protective cover.