Earlier, Pyongyang's state-run KCNA news agency said the test involved a Hwasong-15, capable of carrying out a nuclear strike on "the whole mainland of the U.S".
According to the Japanese Defense Ministry, the missile plunged into the sea in Japan's exclusive economic zone, 250 kilometers west off the coast of Japan's Aomori Prefecture.
Mr Lavrov said the way the U.S. was handling the situation was dangerously provocative.
U.S. State Department spokeswoman Heather Nauert said the United States had called on countries to scale back or cut ties with North Korea as part of an effort to pressure Pyongyang to give up its weapons programs.
Calling for new talks with North Korea, Lavrov added: "We have already emphasised... that the squeeze of sanctions has essentially come to an end, and that those resolutions which introduced the sanctions should have included a requirement to renew the political process, a requirement to renew talks".
"I think the Chinese are doing a lot".
Haley sternly warned North Korea's leadership saying it would be "utterly destroyed" if war were to break out.
"We have never sought war with North Korea", she said. "China can do this on its own, or we can take the oil situation into our own hands".
North Korea has been accelerating its threat to the USA and to the globe with recent missile tests.
The Security Council met Wednesday at the request of the United States, Japan and South Korea to consider next steps after three rounds of sanctions adopted in the past year failed to change North Korea's course. The UN also barred the hiring of North Korean guest workers and capped exports of refined petroleum products.
The United States earlier this year pressed for a full oil embargo on North Korea but dropped that demand following resistance from China and Russian Federation.
There are also concerns in Seoul - which is within range of Pyongyang's artillery - that Trump might be considering military action against the North that could trigger a full-scale war.