In response to that, Iranian Armed Forces Spokesman Brigadier General Abolfazl Shekarchi said that the country would continue missile tests to improve its defense capabilities.
She said the test did not comply with UN Security Council Resolution 2231 and called on Tehran to immediately stop all its ballistic missile-related activities created to carry nuclear weapons.
Her comments follow those of US Secretary of State Mike Pompeo who cited the weekend incident as evidence that Iran contravened the deal by test firing a mid-range projectile capable of delivering nuclear weapons.
Mr Trump's administration reinstituted sanctions on Iran although the other countries in the nuclear deal - struck during Barack Obama's second term in the White House - are sticking to it despite renewed USA pressure on them to abandon the accord or face trade restrictions.
Iran did not take part in the Security Council consultations.
FILE - United Kingdom Ambassador Karen Pierce address a meeting of the United Nations Security Council at U.N. headquarters, October 23, 2018.
Iran also carried out another test last week that was strongly condemned by Washington.
He has reimposed sanctions on Tehran and criticized the deal for not including curbs on Iran's development of ballistic missiles or its support for proxies in Syria, Yemen, Lebanon and Iraq.
"While [the United States] itself violates [UN Security Council resolution] 2231 - and even threatens to punish those who don't wish to violate it in abiding with illegal USA sanctions - it now falsely accuses Iran of violating the very SAME resolution", Mr. Zarif added.
"In Iran's transparent missile and defence policies ... there is no design and plan for having missiles capable of carrying nuclear warheads, and there won't be any in the future", Bahram Qassemi was quoted as saying by the ministry's press service.
Refuting Iranian claims that its illicit missile tests are defensive in nature, Trump administration Iran envoy Brian Hook vowed tough reprisals for Iran's most recent missile tests, which are among the most provocative in recent memory.
For its part, Iran said Sunday it would continue missile tests to build up its defences and denied it was in breach of United Nations resolutions.
British Ambassador Karen Pierce told reporters that the missile test is "inconsistent" with the resolution, but the United Kingdom wants to know "exactly what happened and then we will reach a judgment about how we want to characterize it".
The United States decided in May to withdraw from the 2015 nuclear deal and reimpose sanctions on Iran.
"It is a grave and escalating threat, and nations around the world, not just Europe, need to do everything they can to be targeting Iran's missile program", he said.
Pompeo lamented that conventional wisdom had concluded that "the more treaties we sign, the safer we supposedly are" and "the more bureaucrats we have, the better the job gets done".