North Korean state television aired footage from the launch by a Hwasong-15 intercontinental missile on Saturday.
It flew more than 900km (560 mi) in just 67 minutes, before landing in the Sea of Japan.
Pyongyang claimed that the test proved it was capable to counter hostile forces such as the US and South Korea.
It is ahead of the joint exercises between Washington, Seoul, and Seoul next month. These are designed to counter North Korea’s growing nuclear threats.