The US Strategic Command (USSTRATCOM) said the launch, detected just after midday Saturday Korea time, was believed to be of a much-hyped Musudan missile which North Korea has now test-launched seven times, with only one partial success.
"The North American Aerospace Defense Command determined the missile launch from North Korea did not pose a threat to North America," it said in a statement.
The Musudan has a theoretical range of anywhere between 2,500 and 4,000 kilometres (1,550 to 2,500 miles), with the upper estimate covering US military bases in Guam.
After a string of five failed launches, North Korea test fired a Musudan in June that flew 400 kilometres into the Sea of Japan (East Sea).
That test was hailed by leader Kim Jong-Un as a complete success and proof of the North's ability to strike US bases across "the Pacific operation theatre."
Saturday's launch was detected at 1203 Pyongyang time (0333 GMT)on Saturday from the northwestern North Korean town of Kusong.
Such launches are usually detected within hours or even minutes by the South Korean and US militaries, and it was unclear why Sunday's USSTRATCOM announcement came so long after the event.
There was no immediate confirmation from the South Korean side.
US weapons analysts say successful Musudan testing could help the nuclear-armed North develop an operational intercontinental ballistic missile (ICBM) capable of striking the US mainland by 2020, a US think-tank said Friday.
Existing UN sanctions prohibit North Korea from using ballistic missile technology.
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