It is not huge, however, I don't think it is anything to be embarrassed about. You are not being fair to yourself if you feel that way.
I once dated a guy who was about 4-1/2". The head of his dick was out of balance with the rest of his dick, in that it was very large.
The sex with him was some of the most energetic ever! He was a martial arts master, therefore, he could do amazing things with his body and could treat me almost like a rag doll when it came to positions, etc. (I am 5'10", 205#).
Long story short, he proved once and for all to me that size is not an accurate measure of quality.
I'll bet your partners will say the same thing(s) about you.