State Government agencies are leading a coordinated approach to monitor communities potentially affected by the cyclone.
Tropical Cyclone Esther made landfall between Mornington Island and the Queensland-Northern Territory border earlier this afternoon.
The warning area stretches from Port McArthur (NT) to the area west of Karumba (Qld), including Borroloola and Mornington Island and adjacent inland areas between Cape Crawford and Century Mine, including Doomadgee.
The Category One cyclone - with winds near the centre of 75km/hour and wind gusts of up to 100km/ hour - is expected to move westwards, into the Northern Territory, while weakening.
A storm tide is expected between the NT/Qld border and Karumba which could persist onto the high tide tonight, which may result in minor flooding along the foreshore.
Residents in the area likely to be affected by flooding should take measures to protect their property.
Heavy rain with the potential to cause flash flooding is expected in areas around the Gulf of Carpentaria today.
Residents in coastal and adjacent inland areas between the NT/Queensland border and Karumba should remain indoors until the cyclone has passed and listen to the next advice at 5pm.
Residents are reminded not to attempt to drive through floodwaters on inundated roads in the region.
Five schools - including Burketown State School, Doomadgee State School, Karumba State School, Mornington Island State School and North Eton State School - remain closed as a precaution.
- For cyclone preparedness and safety advice, visit Queensland's Disaster Management website (www.disaster.qld.gov.au
- For flood and cyclone emergency assistance, call the Queensland State Emergency Service (SES) on 132 500
- For school closure information visit www.qld.gov.au/education/schools/information/closure