News reports quoted Ivanov as telling President Vladimir Putin the test was completed at the Sary-Shagaz testing range in the former Soviet republic of Kazakhstan.
"We intend to continue perfecting and modernizing our missile defense system," Ivanov was quoted as telling by Russian news agencies.
Putin replied: "Good. Congratulations!"
The brief exchange came less than two weeks after Putin startled the world by announcing that Russia was carrying out tests on "the latest nuclear rocket systems."
Russia has been cryptic about missile defense or other system it is working on, amid efforts to counter the proposed US missile defense shield.