Tropical cyclone Penny made landfall in Queensland on the Gulf of Carpentaria, between Weipa and Thud Point, and is now moving east across Cape York Peninsula.
The category-1 system brought with it sustained winds near its centre of 75 kilometres per hour, with wind gusts to 100 kilometres per hour.
The Bureau of Meteorology says the category 1 system initially formed in the eastern part of the Gulf of Carpentaria by 7am.
Wind gusts up to 120 kilometres per hour have been recorded on the western Cape York Peninsula coast between Cape York and Aurukun.
Videos posted on social media showed the ferocity of the winds.
Heavy rainfall may lead to flash flooding across the cape and parts of the North Tropical Coast late Tuesday and Wednesday.
A flood watch alert remains for coastal catchments north of Cardwell, including across Cape York Peninsula.
Residents have been warned to expect a higher storm tide between Cape York and Cape Keerweer with possible flooding along the foreshore.
Cyclone Penny is expected to weaken to a tropical low as it crosses land and moves out to the Coral Sea later this evening.
Queensland Fire and Emergency Services Far Northern Region Assistant Commissioner John Bolger said it was important locals followed the directions of authorities and either shelter in place until the cyclone passed or relocate if asked.
"Those who remain in place should shelter in the strongest part of the house and ensure their emergency kit is close by," he said.
Mr Bolger said the intense rainfall could result in flash flooding of creeks, drains and causeways.
"Under no circumstance should people enter flooded creeks or causeways by road or on foot. If you come across rising floodwaters, turn around and seek an alternative route."
Rivers and creeks are already swollen after heavy rain soaked the region over Christmas, with parts of the far north receiving more than 400mm in the past week.
A 34-year-old woman remains missing after she disappeared in a fast-flowing creek near Cooktown on Thursday.
The body of a 28-year-old man was found on Monday morning, several kilometres downstream from where he entered a flooded canal close to Cairns city on Saturday.
