Severe tropical Cyclone Narelle lashed Australia’s northeast coast on Friday, bringing destructive winds, heavy rain and power outages as authorities urged people to brace for significant damage.

Narelle made landfall in remote parts of the Far North Queensland region as a category four system, one rung below the strongest category five, with winds reaching about 195kmph.

The cyclone, which authorities initially said could be among “the worst in living memory”, appears less damaging than feared, but concerns over severe flooding remain.

After crossing the coast, the storm dropped to a category three system, Australia’s Bureau of Meteorology said, adding that Narelle was still packing wind gusts of around 140kmph.

The cyclone was expected to weaken as it moves west across the Cape York Peninsula over the next 18 hours.

“There is a lot of rain in this system, and as it moves it will be hard and fast,” Queensland premier David Crisafulli told a press conference. “I don’t want to sugarcoat this, we are going to experience loss of electricity and the damage is likely to be significant with a system of this size.”

The cyclone crossed the coast between Lockhart River and Coen, which the premier said helped minimise damage. Mr Crisafulli said heavy rainfall could trigger flash flooding, and emergency crews were visiting homes in vulnerable communities on Friday to alert residents.

Rescue and response teams, including power crews, health workers, helicopters and ambulances, were already positioned to begin recovery efforts when conditions ease, he said. “But right now the message to people is to stay where you are … as the system has only just started to cross the coast,” he said.

Coen, home to about 350 people, had been expected to bear the brunt of the storm, but police say there were no reports of injuries but there were damages to the infrastructure.

However, Debbie Jackson, who lives 50km north of Coen, said they were “losing roofs everywhere”. “Lots of trees down. We have lost a few roofs. It’s not real great. We just have to ride it out,” she told ABC.

Some residents evacuated to community centres before the cyclone struck, with storm warnings extending across a 600km stretch of the coast.

Lucretia Huen, whose family is at the Wellbeing Centre, told the broadcaster that water supplies had been cut, with people relying on stocks of bottled water. “Emotions are running high especially with no water and power but everyone is on alert,” she said.

The Bureau of Meteorology warned strong winds and persistent rain remained a threat in Queensland on Friday afternoon. More than 300mm had been recorded in some areas by 4pm local time, the weather agency said.

“Heavy to intense rainfall is still occurring, and even after the system moves off the west coast, there is the potential for heavy rain and the water that has fallen will then flow into rivers and creeks,” Matthew Collopy from the Bureau of Meteorology said, according to Sydney Morning Herald. “The potential for flash and riverine flooding continues.”

Prime minister Anthony Albanese said the storm had the potential to be a “very dangerous” weather event for Queensland and the Northern Territory. “The Commonwealth stands ready to provide whatever assistance is required,” he said.

Queensland police disaster coordinator Chris Stream warned the storm could cost lives, and warned people to stay indoors. “This is not the opportunity for you to be outside during the cyclone, getting that TikTok moment,” he said. “A piece of debris being propelled at 100km an hour or more will likely kill you.”

The Bureau of Meteorology warned that gales, destructive winds and flash flooding were possible in the Port McArthur and Nhulunbuy regions from Saturday.

Parts of the Northern Territory, including Katherine and Daly River, remain in recovery from recent flooding. Police said an evacuation of Katherine was not currently planned, but the situation could change.

A luxury resort on Lizard Island had already been evacuated. Seven people left the island’s Australian Museum coral research station, with eight essential staff remaining under a cyclone management plan. Vulnerable residents, including those requiring dialysis and pregnant women, are being flown out of the affected area.

A category five cyclone carries winds above 200kmph and is classified by the Bureau of Meteorology as “extremely dangerous with widespread destruction of buildings and vegetation”. Cyclone categories do not account for flooding or storm surges.