Japan's Defense Ministry said the country's Air Self-Defense Force and the US Air Force conducted a joint exercise on Friday.
The ministry said four F-15 fighter jets from Japan and four US F-16 fighters took part in the drill over the Sea of Japan.
The exercise comes following North Korea's launch of an intercontinental ballistic missile on Thursday. The ministry said it appeared to be a Hwasong-17, an ICBM the North tested last November.
The ministry said Japan and the US reaffirmed their readiness to respond and strengthened the deterrence of their alliance, as the security situation surrounding Japan becomes increasingly severe.