"On Feb 19, JASDF F15 [fighter jet] and USAF [United States Air Force] B1 [bomber] and F16 [fighter] conducted tactical exercises in the airspace, Sea of Japan, to mutually reaffirm the readiness under the ironclad Japan-US Alliance," the air force said on Twitter.
The air forces of both nations routinely work together to maintain high levels of operational readiness, the statement added.
On Saturday, Pyongyang test-fired the Hwasong-15 intercontinental ballistic missile (ICBM), which reached a maximum altitude of 5,768 kilometers (3,584 miles), covering a distance of 989 kilometers in 66 minutes.
Japan's Chief Cabinet Secretary Hirokazu Matsuno said on Saturday that the long-range missile had been fired at a high angle and could possibly travel 14,000 kilometers and reach the continental US territory if fired at a regular angle.