The INF treaty banned deployments of ground-launched missiles with ranges between 500 and 5,500 kilometers. However, the treaty was already on the verge of collapse after the US pulled out of it in 2019.
The test took place at 2.30 pm at San Nicolas Island, California, the Xinhua news agency reported.
Putin met Pope Francis and Italian Prime Minister Giuseppe Conte on Thursday.
The provocation for the US withdrawal were allegations that a new Russian missile had violated the limits imposed by the INF treaty, which was signed after a nuclear standoff in Europe in the 1980s between US and Soviet medium-range missiles.
"Russia has violated the agreement. They've been violating it for many years," Trump told reporters on Saturday before boarding Air Force One to leave Nevada following a campaign rally.
