Russia informed US authorities of the test prior to the launch yesterday, in keeping with an existing weapons treaty, Pentagon spokesman colonel Steven Warren said.
"I can confirm that the Russians test-fired an ICBM yesterday," Warren said.
"The launch was a previously notified and routine test launch of an ICBM. Notifications were conducted as required under the new START treaty," Warren added.
"The United States and Russia both routinely test their ICBMs and SLBMS."
The Pentagon spokesman did not specify the exact type of missile launched.
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US authorities were also notified in advance of that test.
Despite soaring tensions between the United States and Russia over Moscow's annexation of Crimea and subsequent sanctions imposed by Washington, the two former Cold War foes continue to cooperate in certain areas of the military and space exploration.
Russia has also continued to allow US convoys to pass through Russian territory to resupply forces in Afghanistan.