Tropical Cyclone Esther is expected to weaken after making landfall near the Queensland-Northern Territory border.
The Category 1 system hit between Mornington Island in the Gulf of Carpentaria, and the border after midday on Monday.
The Bureau of Meteorology said it expects Tropical Cyclone Esther will weaken by Monday night, but residents still needed to be cautious.
"People in that region are advised to stay inside until the cyclone has passed," bureau forecaster Lauren Pattie said.
"By this evening we expect her to be below a tropical cyclone."
The weather system is forecast to head west into the Northern Territory, dumping plenty of rain over the next two days.
Gale force winds are affecting areas along the coastline of the Gulf of Carpentaria.
These winds are expected to affect Port McArthur in the Northern Territory to Karumba and Normanton on the Queensland side of the border.
Storm surges are also being warned for these regions.
Tropical Cyclone Esther is also having affects on the east coast of Queensland.
Heavy rainfalls from the from the far north to the state's central coast have been recorded.
Ms Pattie said on Monday that parts of the Mackay region had received 200mm within 24 hours.
Australian Associated Press