The trial of the surface-to-surface missile, which has a strike range of 350 km, was carried out from a mobile launcher from launch complex-3 of the Integrated Test Range at Chandipur near Balasore at around 11.35 am, they said.
Describing the trial as a complete success, they said all mission objectives were met during the test launch.
The perfect test launch came after successful trial of Agni-5 on January 18 and Agni-1 missile conducted from Abdul Kalam Island off Odisha coast yesterday.
Prithvi-II is capable of carrying 500-1,000 kilogram of warheads and is thrusted by liquid propulsion twin engines.
The state-of-the-art missile uses advanced inertial guidance system with manoeuvring trajectory to hit its target, they said.
"The missile trajectory was tracked by radars, electro- optical tracking systems and telemetry stations by the DRDO along the coast of Odisha," the sources said.
The downrange teams onboard the ship deployed near the designated impact point in the Bay of Bengal monitored the terminal events and splashdown.
In salvo mode, on November 21, 2016, two missiles were successfully test fired in quick succession from the same base and the last trial was successful on June 2, 2017 from the same base.
Inducted into the Armed forces of the country in 2003, the nine-metre-tall, single-stage liquid-fuelled Prithvi-II is the first missile to have been developed by the DRDO under the Integrated Guided Missile Development Programme (IGMDP), sources said.