The unusual late-night test launch was North Korea's 12th missile test this year and second intercontinental ballistic missile (ICBM) in less than a month.
"The US Department of Defence detected and tracked a single North Korea missile launch today at about 10:41 AM (New York time)," Pentagon Spokesman Capt Jeff Davis said.
"We assess that this missile was an intercontinental ballistic missile (ICBM), as had been expected. The missile was launched from Mupyong-ni and travelled about 1,000 km before splashing down in the Sea of Japan.
The North American Aerospace Defence Command (NORAD) determined the missile launch from North Korea did not pose a threat to North America, he said.
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"Our commitment to the defence of our allies, including the Republic of Korea and Japan, in the face of these threats, remains ironclad. We remain prepared to defend ourselves and our allies from any attack or provocation," Davis said.
Speaker of the US House of Representatives Congressman Paul Ryan said: "North Korea is a global menace and its pursuit of nuclear-capable intercontinental ballistic missiles poses clear and immediate danger to our national security. We take this threat very seriously.
Harry J Kazianis, director of Defence Studies from the Centre for the National Interest, a recognised expert on North Korea, said the latest test should not come as a surprise.
"North Korea is slowly morphing into a nuclear and missile power right before our very eyes. North Korea will continue to test over and over again its missile technology and nuclear weapons in the months and years to come in order to develop the most lethal systems it can.
A day earlier, Commander of US Pacific Command Admiral Harry Harris said North Korea is "a clear and present danger" to global peace and stability.
North Korean leader Kim Jong-Un's regime is not only a threat to South Korea, Japan and the US, but to China, Russia and US allies in the Pacific and Indian Oceans, he said.
"(North Korea is) a threat to the entire world because North Korea's missiles point in every direction. It's the reason why we call for all nations to implement far stronger economic sanctions against Pyongyang," Harris said at an event at the Japanese Embassy in Washington.
"Kim Jong-Un must end his dangerous pursuit of a nuclear weapon or face total economic isolation. The sanctions will limit access to foreign currency and the ability to conduct trade, severely weakening the North Korean economy," said Senator Dianne Feinstein.
"It also gives us the ability to work with the UN to impose harsh penalties against any foreign entity that violates or helps North Korea circumvent these sanctions," she said.
In the past a few days, the Trump administration has ramped up its pressure on China to use its leverage on North Korea from going ahead with its missile tests.
"That's why the president on the fringes of the G20 sat down with the heads of state of both South Korea and Japan to take the North Korean issue back to the UN Security Council. And why the president, additionally, at the end of the G20 had a conversation with (Chinese President) Xi Jinping to tell him exactly what he thought about what China needs to do right," he said.