The US called China's ballistic missile test in the south Pacific a "great concern" for the world.
Washington warned China that while it "is working harder than ever to prevent nuclear proliferation", the government in Beijing was "doing the opposite".
China carried out the long-range missile test on Monday, also sparking criticism from New Zealand and Australia.
An announcement by state news agency Xinhua said the test launch was carried out using a nuclear-powered submarine at 12.01pm (5.01am in the UK).
The US has now responded saying it had monitored the test launch.
In a statement, the US State Department said: "At a time when the United States is working harder than ever to prevent nuclear proliferation, China is doing the opposite.
"Beijing's rapid and opaque nuclear weapons build-up is of great concern to the region and the world."
"We continue to urge China to engage in meaningful arms control discussions," the statement said.
It added that it urged Beijing to "commit to a regularised notification arrangement for all intercontinental-range ballistic missile and space launches consistent with commitments made by all other P5", namely the permanent five members of the UN Security Council.
The Chinese military used a dummy warhead during the test, Xinhua reported, adding that the drill was part of routine annual training, complied with international law and practice, and was not directed against any country or target.
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China's ministry of foreign affairs spokesperson Mao Ning commented on Monday: "It is a routine military training activity that is not directed at any specific country or target.
"The countries concerned were informed prior to the launch. It is consistent with international law and customary international practice.
"The whole process was safe, standard and professional. We hope relevant countries will not read too much into it."
(c) Sky News 2026: US accuses China of nuclear proliferation after ballistic missile test in Pacific
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