It saw a U.S. Air Force C-17 launch the medium-range missile over the Pacific Ocean, which was then detected, tracked and intercepted by the THAAD system in Kodiak, Alaska.
The test, designated Flight Experiment THAAD (FET)-01, was conducted to gather threat data from a THAAD interceptor in flight, the release said.
The test came the same day that two United States supersonic B-1 bombers flew over the Korean Peninsula, following joint military drills with Japan, in a show-of-force response to North Korea's test-fire of what Washington deemed the isolated nation's second intercontinental ballistic missile on Friday.
The THAAD test follows North Korea's second test-launch of an intercontinental ballistic missile (ICBM), which took place late Friday night.
The THAAD system is created to shoot down short, medium, and intermediate range ballistic missiles in their terminal phase by intercepting with a hit-to-kill approach.
The latest intercept by the THAAD anti-missile system was heralded as bolstering US defenses amid the North's rapid progress in its quest to master the technology needed to build a nuclear warhead small enough to fit on the tip of a missile that could hit the United States.
The "Flight Experiment THAAD" test was aimed at gathering "threat data from a THAAD interceptor in flight", according to the USA military.More news: John Kelly faces 'baptism of fire' in fixing Trump White House
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"Threatening the world, these weapons and tests further isolate North Korea, weaken its economy, and deprive its people", Trump said in a written statement. A North Korean news outlet called Friday's launch a "grave warning" to the U.S.
"We assess that this missile was an intercontinental ballistic missile, as had been expected", Pentagon spokesman Jeff Davis said in a statement.
"We have a responsibility to our allies and our nation to showcase our unwavering commitment while planning for the worst-case scenario".
"If the USA continues to frantically cling on to the so-called "strong sanctions" and military adventures against us, we will respond with firm action of justice that we had already made clear".
USA authorities had earlier confirmed that the missile was an ICBM but downplayed claims that it could reach the U.S. mainland.
The United States said it shot down a medium-run target ballistic rocket in its most recent trial of the nation's THAAD rocket safeguard program, which is meant to shield the nation against potential dangers from nations, for example, North Korea and Iran.
"The U.N. Security Council has clear regulations on North Korea's launch activities that use ballistic missile technologies".