The missile was test-fired from Wheeler Island in Odisha at 8.05 am.
Agni-5, with a range of over 5,000 km, is a three-stage, all solid fuel powered, 17-metre tall missile with capability to carry various forms of payload.
It can be launched from land-based mobile platform and has the capability of hitting multiple targets.
The successful test launch of the missile is a major leap forward for India in the area of military technology and military deterrent capability, making it the fifth country in the world to possess such a technology.
Only the United States, Russia, France and China possess the capability to operate an ICBM.
In November last year, DRDO had successfully test fired the 3,500 km range Agni-4 missile giving muscle to India's deterrent capability against its military adversaries.
R-Day Debutants: Fl Lt Sneha, Agni-4, Prahaar, C-130
VIDEO: Agni-IV, India's new long-range missile
On TEST in December: 5000 km-range Agni-5
BIGGER, better, faster Agni missile to take off soon
Agni-5 launch put off till April 19 due to bad weather