  It is assumed that heavy dark matter $\phi$ with O(TeV) mass captured by the
Earth may decay to relativistic light milli-charged particles (MCPs). These
MCPs could be measured by the IceCube neutrino telescope. The massless hidden
photon model was taken for MCPs to interact with nuclei, so that the numbers
and fluxes of expected MCPs may be evaluated at IceCube. Meanwhile, the numbers
of expected neutrino background events were also evaluated at IceCube. Based on
the assumption that no events are observed at IceCube in 10 years, the
corresponding upper limits on MCP fluxes were calculated at 90\% C. L.. These
results indicated that the MCPs from the Earth's core could be directly
detected at O(1TeV) energies at IceCube when
$2\times10^{-5}\lesssim\epsilon^2\lesssim4.5\times10^{-3}$. And a new region of
100 MeV < $m_{MCP}$ < 10 GeV and $4.47\times10^{-3}$ $\lesssim$ $\epsilon$
$\lesssim$ $9.41\times10^{-2}$ is ruled out in the $m_{MCP}$-$\epsilon$ plane
with 10 years of IceCube data.
