North Korea's KCNA news agency said the missile had "lots of advanced control guidance technologies", and was fired from the same vessel as in a 2016 test.
It did not mention leader Kim Jong-un, suggesting he did not attend the test.
On Tuesday, South Korea's military reported an apparent weapons test in waters off Japan's coast.
North Korea has carried out a flurry of missile tests in recent weeks, including of what it said were hypersonic and long-range weapons.
Some of these tests violate strict international sanctions.
