The defence ministry posted pictures of the launch of the missile, named Imad, on its website but no details were given about its maximum range or other capabilities.
“This is Iran’s first long-range missile that can be guided and controlled until hitting the target,” Defence Minister Hossein Dehghan was quoted as saying.
The launch comes months after some Iranian officials voiced concern that the Islamic republic’s recent nuclear deal with world powers could place limits on its missile programme.
A United Nations Security Council resolution adapted a few days after the nuclear agreement bars Iran from developing missiles “designed to carry nuclear warheads”.
“We don’t seek permission from anyone to strengthen our defence and missile capabilities,” Dehghan said.
Iran has said its missiles would never carry a nuclear warhead as it has no plans to develop atomic weapons, but military officials have insisted on expanding the country’s missile programme.
The deal reached with Britain, China, France, Germany, Russia and the United States aims to limit Iran’s nuclear programme in return for lifting international sanctions.