The missile was launched at 9.45 a.m. local time (04:15 GMT) from the Wheeler Island and landed in the Bay of Bengal.
"Flight was successful and it met all the mission parameters," a Defense Research and Development Organization official told The Hindu newspaper.
Agni-IV is a two-stage nuclear-warhead-capable intermediate-range ballistic missile equipped with advanced avionics.
The missile has a maximum range of 2,500 miles and is capable of carrying a payload of approximately 2,200 pounds, Sputnik news reported on Monday.