The surface-to-surface missile was test fired from a mobile launcher in salvo mode from launch complex-3 of Integrated Test Range at about 9:21 am, Defence sources said.
The launch of the sophisticated missile, conducted as part of operational exercise by the Strategic Force Command (SFC) of the defence services, was successful, they said.
"The missile was randomly chosen from the production stock and the total launch activities were carried out by the specially formed SFC and monitored by the scientists of Defence Research & Development Organisation (DRDO) as part of practice drill," sources said.
The Prithvi-II missile, developed by the DRDO, is already inducted into the Indian Armed forces.
Prithvi, the first missile developed under India's prestigious Integrated Guided Missile Development Programme (IGMDP), is capable of carrying 500 kg to 1000 kg of warheads and thrusted by liquid propulsion twine engines, uses advanced inertial guidance system with manoeuvring trajectory.
The last trial of Prithvi-II was successfully carried out from the same base on October 4, 2012.