U.S. defense chief Jim Mattis and his Japanese counterpart Itsunori Onodera have condemned North Korea's test of a new type of long-range missile, with the pair blasting Pyongyang for its "reckless, outlaw behavior."

Mattis and Onodera spoke for 30 minutes by telephone Friday to discuss Wednesday's launch of what experts say was an intercontinental ballistic missile with a range of about 13,000 km (8,100 miles) — a distance that would put the whole of the continental United States within striking distance.

Mattis reaffirmed the United States' "ironclad commitment" to defending Japan, adding that Washington "remains vigilant in providing Japan extended deterrence" backed by "the full range of U.S. capabilities," the Pentagon said in a statement.