Residents of New Hampshire reported a loud boom in the sky which rattled houses, while calls were also made to police in Massachusetts by people reporting that the ground was shaking [1]. There were over 880 reports on a citizen science report website of people reporting mild shaking [2].
The day after the event, the New York Times published an article about meteorologists having spotted a flash in the sky during the event, leading them to hypothesize that a bolide exploded in the atmosphere, noting that the Draconid and Orionid meteor showers were occurring at the time [3].
The sound was recorded by the Galileo Project Observatory at Harvard University, and following acoustic analysis by Avi Loeb it was determined to have been caused by a bolide of 1m diameter [4].