"The measure could have a grave impact on the economic relationship of Japan and the US... and also on the global economy," said Foreign Minister Taro Kono, describing the move as "regrettable".
In an announcement that sparked fears of a global trade war, Trump said the tariffs -- which will come into effect after 15 days -- will not initially apply to Canada and Mexico.
He also said that close partners on security and trade could negotiate exemptions.
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