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According to an initial assessment, the missile was launched from Sain Ni in North Korea and flew within Japan's Economic Exclusion Zone (EEZ).
In a statement, the Pentagon said the missile did not pose a danger to North America, any US territories or any ally nations.
"Our commitment to the defense of our allies, including the Republic of Korea and Japan, in the face of these threats, remains ironclad," the statement read.
"We remain prepared to defend ourselves and our allies from any attack or provocation."
The United States has said it will not tolerate North Korea's testing or deployment of an ICBM capable of carrying a nuclear warhead to US cities.
Experts believe Pyongyang is within months of such a milestone, having carried out six nuclear tests since 2006 and test-fired several types of missiles, including multi-stage rockets.