US negotiators nevertheless felt they had a "useful exchange of views" with their Russian counterparts and have "agreed to continue the dialogue," it said in a statement.
Both sides "acknowledged the importance" of the treaty "and reconfirmed their commitment to it" during Thursday's meeting, it added.
The US and Russia have accused each other of violating the bilateral Intermediate-Range Nuclear Forces Treaty, which first took effect on June 1, 1988, and was broadened after the Soviet Union broke apart.
The treaty required the destruction of all ballistic and cruise missiles with ranges of between 500 and 5,500 kilometers, as well as launchers and support equipment, by June 1, 1991, according to the State Department.