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Carbon dots (CDs) are class of carbon based nanomaterials with excellent optical properties. However, in solid state the fluorescence of CDs is not observed due to aggregation-caused quenching effect. Herein, we present a facile thermal method for preparing solid state yellow emissive nitrogen doped carbon dots (N-CDs) using organic solvents, ethanolamine and acrylonitrile as the precursors without further surface passivation. In addition, N-CDs aqueous dispersion exhibits tunable blue to green emission, while acetone dispersion show yellow emission. Moreover, the aqueous dispersion of N-CDs is employed for detecting picric acid selectively by fluorescence quenching mode based on inner filter effect. A good linearity is observed in the range from 0 to 45 μM, with a detection limit of 1.17 μM. The method is successfully applied for determination of picric acid in environmental samples.