Hatf IV is a nuclear capable missile.
The test launch was conducted from INS Subhadra, about 40 nautical miles from Chandipur in the sea, at around 2.30 pm, sources said.
The strategic planning has already begun to install the BMD system in the two cities and the final proposal will be put before the government after detailed analysis of the entire project, sources told PTI in New Delhi.
The move comes close on the release of a report by Pentagon, which suggested that China has moved its new advanced longer range CSS-5 missiles close to its border with India and developed contingency plans to shift airborne forces to the region at short notice.
The fourth Central Research Institute of the Ministry in Moscow is hosting the joint theatre-wide ballistic missile defence (BMD) command-post exercise (CPX).
The test of the indigenously built Intermediate Range Ballistic Missile was carried out from a mobile launcher at about 1006 hrs from launch pad-4 of Integrated Test Range at Wheelers Island near Dhamra, about 80 km from Balasore in Orissa, defence sources said.
The US' strong assertion comes days after President Donald Trump pledged to answer further aggression from North Korea with "fire and fury".
The agreement on pre-notification of missile tests was signed by Foreign Secretary Shyam Saran and his Pakistani counterpart Riaz Mohammad Khan.
Here are some of the images from the parade.
The United States, Canada and the United Nations have condemned the Iranian air attack on Israel, with President Joe Biden reaffirming America's 'ironclad commitment' to the Jewish nation and vowing to convene a meeting of the G-7 leaders on Sunday to develop a coordinated response to the brazen assault.
'What the Americans want is to destabilise Iran. For destabilising Iran, you need access. 'One access is through Iraq. The other access is through Pakistan.'
Sources said the equipment is being brought to India through both sea and air routes.
Analysts and experts agree that Beijing is trying to challenge American supremacy in the space but also say that Washington has limited choices to react to the development.
The Quad grouping has called for bringing the perpetrators, organisers and financiers of the Pahalgam terror attack to justice without any delay and urged UN member nations to extend cooperation for it.
After personally overseeing the test Kim Jong-un 'said American bastards would be not very happy with this gift sent on the July 4 anniversary'.
Such tests contribute to the charged atmosphere and make it harder to prevent a costly and destabilising nuclear and missile arms race in the region, officials said in Washington.
The US military fired an intercontinental ballistic missile-type weapon on Tuesday from the Kwajalein Atoll in the Marshall Islands. It then fired a missile to intercept it from Vandenberg air force base in California.
The agreed text of the proposed agreement on pre-notification of the tests will be referred to the foreign secretaries of the two countries for formalisation, Shankar said after the talks with Pakistan's additional secretary.
The leak occurs at a particularly delicate time in US-Israel relations and is likely to infuriate Israel, which has been preparing to retaliate against Iran following a missile barrage on October 1.
Defence Secretary Lloyd Austin on Thursday directed that the aircraft carrier USS Ronald Reagan and the ships in her strike group will remain on station in the general area to monitor the situation.
Highly placed sources said the test firing could take place any time this month.
India on Thursday successfully test-fired its nuclear-capable Dhanush ballistic missile with a strike range of 350 km
The Agni-V can reach beyond Tibet to high-value targets in the Chinese heartland, even its northern-most provinces.
Amid deepening row with the United States over disputed South China Sea where American ships challenged China's claims of sovereignty, Chinese military has deployed its latest anti-ship cruise missiles which experts say can form a powerful defence line at sea.
According to the Pentagon report, the PLA is creating options for dissuading, deterring, and defeating external intervention in the Indo-Pacific region.
'Pyongyang's strategy seems to be a cry to be treated as equal with the US and Beijing and this aspiration is premised on equipping itself with weapons as devastating as theirs,' says Rajaram Panda.
Weeks after offering to sell its F-35 fifth generation fighter jets, the United States on Wednesday said it was open to work with India on joint development of a ballistic missile shield.
The projectile took off on Sunday afternoon local time from a location near Pukchang.
Trump said, 'North Korea has just launched another missile. Does this guy (Kim) have anything better to do with his life?'
Once Shaheen II becomes operational, it will give Pakistan the ability to target facilities across most if not all of India and hold all of India's major cities at risk.
Maintaining that its strategic capabilities were not targeted against any particular country, India has said that it abides by all applicable international obligations and expects others do the same, while responding to Chinese reaction to its test-firing of Agni V missile.
China's newly-formed Rocket Force has held an exercise with advanced DF-16 medium-range ballistic missile with a range of over 1,000 kms that could threaten a number countries, including India, Japan and the United States.
State news agency IRNA said that Iran has successfully shot down 'adversial targets' in the airspace around Tehran province. Iranian state television noted hearing six loud sounds resembling explosions in parts of the capital, with the source of the noises currently unverified.
Earlier in response to Iran's rocket barrage on Israel on Tuesday night the UN Chief had said, "I condemn the broadening of the Middle East conflict with escalation after escalation. This must stop. We absolutely need a ceasefire.."
'When one air force (India's) hits the other's airbases with impunity and that air force (Pakistan's) is not able to respond, then the air force, which has put the other's airbases out of commission, has won.'
An inconclusive end to this war will pose high risk for Netanyahu of a cascading demand for a regime change in Israel, predicts Ambassador M K Bhadrakumar.
'This cannot be credibly explained away by referring to a "technical glitch".'
In the test, a space rocket boosted a hypersonic glide vehicle, one capable of carrying a nuclear device, which circled the globe before impacting.
