Geng urged all sides to refrain from provocative action and said China would continue participating in Security Council discussions in a constructive and responsible way.
The test is worrying evidence of North Korea's rapid progress in its aim of developing missile systems with nuclear warheads that can reach the United States.
And it comes at a time of uncertainty, with the North Korea policy of new US President Donald Trump still unclear.
According to spokespersons for the nation, North Korea now has a new intercontinental ballistic missile that is capable of reaching the United States.
She added: "We urge North Korea to stop its provocative actions, which threaten worldwide peace and security, and instead re-engage with the global community, and take credible, concrete steps to prioritise the well-being of its own people instead of the nuclear and ballistic missile programmes".
"Pyongyang's development of nuclear weapons and ballistic missiles has become a severe annoyance for Northeast Asia".
The Feb. 14 editorial "A new strategy for North Korea" argued that the United States should use sticks and carrots to "end the North Korean threat".
Davis said it appeared that the missile was an intermediate-range ballistic missile, the land-based variant of what North Korea has launched from submarines in the past. The missile was tracked over North Korea and into waters off its eastern coast.
The Foreign Office spokeswoman said: "The UK fully supports the UN Security Council's strong condemnation of North Korea's recent ballistic missile launch".
Secretary Tillerson reiterated that the United States remains steadfast in its defense commitments to its allies, the Republic of Korea and Japan, including the commitment to provide extended deterrence, backed by the full range of its nuclear and conventional defense capabilities.
Shi Yuanhua, a Korean studies professor at Shanghai's Fudan University, said that from Pyongyang's perspective, it was a good time to launch a missile because the new US administration hadn't decided what approach to take with North Korea, and Beijing was at odds with Washington and Seoul over the anti-missile system.
Defence chiefs from the US, South Korea and Japan have vowed to strengthen intelligence sharing after North Korea test-fired a ballistic missile.
This latest test is important because, if confirmed, North Korea would have a missile that could be launched anywhere in the country from a ground-based mobile vehicle. He has ordered at least 50 missile tests since he took office five years ago, including more than 20 last year.
China is North Korea's main ally but has been frustrated by Pyongyang's repeated provocations, although it bristles at pressure from Washington and Seoul to rein in the North and its young leader, Kim Jong Un.
The National Security Council convened an emergency meeting to discuss the missile test on Sunday.
The inducement should be directed at China, not North Korea, which depends on China for almost 80 percent of its energy and food.