"Initial assessment indicates the launch of an intermediate range ballistic missile (IRBM)," the Pentagon said in a statement.
"The North American Aerospace Defense Command determined this ballistic missile launch did not pose a threat to North America. US Pacific Command determined this ballistic missile launch did not pose a threat to Guam," it said.
North Korea fires ballistic missile over Japan
In July North Korea test-fired a long-range, intercontinental ballistic missile that demonstrated a capacity to strike the continental United States.
Following that Pyongyang threatened to fire one or more close to the US Pacific Island of Guam, which Washington warned would be a red line that North Korea should not dare to cross.
EU slams North Korea missile launch as 'serious threat'
The launch early Tuesday nevertheless flew high over Japan, a key US ally as the Pentagon underscored.
"Our commitment to the defense of our allies, including the Republic of Korea and Japan, in the face of these threats, remains ironclad. We remain prepared to defend ourselves and our allies from any attack or provocation," it said.
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