It depends how close you are to the epicenter, of course. Your figure seems about right to me: I think a 5.0 near an epicenter would be pretty violent. But I've never been near an epicenter — only on the outskirts.
It also depends on what type of ground you're on. I've been in 5+ earthquakes in a house built on solid rock (Los Angeles area hills), and a 4.5 down in the valley. Being on loose ground makes it feel much worse.
You get a feel for that with the shaking frequency and/or gap between different sets of waves (P & S waves). No discernable gap and higher jerkier frequency usually means closer, a longer rolling feeling with separated phases that might last longer usually means further away.
Just like sound or ocean waves the higher frequencies attenuate out quicker over distance.
