The launch was part of a user trial by the Army.
Describing the trial of the sophisticated missile as a "complete success", Integrated Test Range Director M V K V Prasad said the launch conducted by the specially formed Strategic Forces Command (SFC) met all the parameters.
The surface-to-surface missile was test fired from a mobile launcher in salvo mode from launch complex-3 of the ITR at Chandipur near here at about 0948 hrs.
"The missile trajectory was tracked by DRDO radars, electro-optical tracking systems and telemetry stations located along the coast of Odisha," they said.
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"The downrange teams onboard the ship deployed near the designated impact point in the Bay of Bengal monitored the terminal events and splashdown," they said.
Inducted into India's SFC in 2003, Prithvi II, the first missile to be developed by DRDO under India's prestigious IGMDP (Integrated Guided Missile Development Program) is now a proven technology, a defence source said.
Such training launches clearly indicate India's operational readiness to meet any eventuality and also establishes the reliability of this deterrent component of India's Strategic arsenal, the source said.
Prithvi is capable of carrying 500 kg to 1,000 kg of warheads and is thrusted by liquid propulsion twine engines.
The last user trial of Prithvi-II missile was successfully carried out from the same base on December 3, 2013.