Yes. We had to enable SSL for impala. Final ODBC config like below 

[bigdata]
Description=New Cloudera Cluster
Driver=/opt/cloudera/impalaodbc/lib/64/libclouderaimpalaodbc64.so
HOST=192.168.10.10
PORT=21050
Database=dbname
AuthMech=4
UID=username
PWD=password
SSL=1
CAIssuedCertNamesMismatch=1
TrustedCerts=/opt/cloudera/impalaodbc/lib/64/your_impala_ssl_cert.pem
KrbFQDN=
KrbRealm=
KrbServiceName=
TSaslTransportBufSize=1000
RowsFetchedPerBlock=10000
SocketTimeout=0
StringColumnLength=32767
UseNativeQuery=0