Heat transport mediated by Majorana edge modes in a magnetic insulator leads to a half-integer thermal quantum Hall conductance, which has recently been reported for the two-dimensional honeycomb material $alpha$-RuCl$_3$. While the conventional electronic Hall effect requires a perpendicular magnetic field, we find that this is not the case in $alpha$-RuCl$_3$. Strikingly, the thermal Hall plateau appears even for a magnetic field with no out-of-plane components. The field-angular variation of the quantized thermal Hall conductance has the same sign structure of the topological Chern number, which is either $pm$1, as the Majorana band structure of the pure Kitaev spin liquid. This observation of a half-integer anomalous thermal Hall effect firmly establishes that the Kitaev interaction is primarily responsible and that the non-Abelian topological order associated with fractionalization of the local magnetic moments persists even in the presence of non-Kitaev interactions in $alpha$-RuCl$_3$.