North Korean leader Kim Jong-un said the test proved that the entire U.S. was within striking range, state media reported, the BBC wrote.
The launch came three weeks after North Korea's first ICBM test.
U.S. President Donald Trump called it "only the latest reckless and dangerous action by the North Korean regime".
Read alsoNorth Korea hails 'long-range' missile test – BBCChina also condemned the missile test but urged "all parties concerned" to exercise restraint "and avoid intensifying tensions".
Confirming the launch, the North said the ICBM flew for just over 47 minutes and reached an altitude of 3,724km (2,300 miles).
It said the launch had "successfully tested re-entry capabilities" of the missile.
"The leader said proudly the test also confirmed all the U.S. mainland is within our striking range," the Korean Central News Agency said.
The statement said that the rocket was a Hwasong-14, the same model North Korea tested on July 3.