Pyongyang is banned from testing ballistic missiles, considered threatening weapons, under UN Security Council resolutions.
Both Japan and South Korea have both condemned the test.
It comes just days after North Korea reportedly fired two non-ballistic missiles into the Yellow Sea.
Japan said no debris had fallen within its territorial waters.
The US Pacific Command, which oversees military forces in the Asia-Pacific region, said on Thursday that the test highlighted “the threat that North Korea’s illicit weapons program poses to its neighbors and the international community”.
The deal between Mr. Trump and Kim Jong-un reached in Singapore in 2018 was that Pyongyang would not test long-range ballistic missiles or nuclear weapons.
At that time, the White House did not concern itself with smaller tests.
But Mr Biden’s team is just back from Japan and South Korea, and promised that “America was back” and supporting its allies.
Perhaps then, the administration will have to say something about a weapons test that threatens its friends in North-East Asia.
Washington will also be aware that Pyongyang has bigger weapons in its arsenal which it has not tested since late 2017.
North Korea has spent more than a year in isolation. It even cut off most trade with its closest ally China amidst the Covid-19 pandemic, and its economy is thought to be in a dire state.
Now that the weapons tests appear to be making a return, many are wondering just how far is Kim Jong-un willing to go to get the attention of the White House.
Japanese officials said North Korea fired the two missiles after 07:00 local time on Thursday (20:00 GMT Wednesday). They flew 420km and 430km respectively before landing in waters outside of Japan’s exclusive economic zone. There was no damage inflicted to ships or aeroplanes.