Udinoor is situated 5 km from Thrikkaripur and 1 km west to Nadakkaav Junction . Raajas of Kolathiri kingdom worshipped war godes of sree kshetrapaalan,Sree vairajatahan (Sree veerabhadran),Sree saastha and sree vettakkorumakan . sree kshetrapaalan wa born from the lap (Mati) of lord shiva for annihilation of wikked persons and this gave him the name of Matiyan.This temple have close relation to Matiyan koolam. Udinoor the name is derived from the name of udayanan,who was one among the kolathiris.Udinoor is a part of allada swaroopam.
Legend : Deepam (Lighted Lamp) was lit on the Arayaal-thara (Baniyan tree ) at the south west of the Koviakam (Palace) as per the direction of Kshetrapalan.On the next day of the incident,Sree Kshetrapalan along with Devi of payyanur visited the Kovilakam and showed their presence by taking a Kinti (Bell metal Globet) of milk from the mother of the house and keeping the empty kinti upside down.The lady of the kovilakam tired to tack it back but it was seen fixed.By Astroligical way it has been found that Sreekshetrapaalan and Kalarathi amma entered in the kovilakam Padinjatini ( Prayer room). Kovilakam people constructed separate Sreekovil for Kshetrapaalan and Kaliratri Amma.It is believed that Kalarathri is the mother of Kshetrapalaka.