The $es$-splitting operation on binary bridge-less matroids never produces an Eulerian matroid. But for matroids representable over $GF(p),(p>2),$ called $p$-matroids, the $es$-splitting operation may yield Eulerian matroids. In this work, we introduce the $es$-splitting operation for $p$-matroids and characterize a class of $p$-matroids yielding Eulerian matroids after the $es$-splitting operation. Characterization of circuits, and bases of the resulting matroid, after the $es$-splitting operation, in terms of circuits, and bases of the original matroid, respectively, are discussed. We also proved that the $es$-splitting operation on $p$-matroids preserves connectivity and 3-connectedness. Sufficient condition to obtain Hamiltonian $p$-mat...