The test was conducted successfully, a military statement said.
The Hatf-II or Abdali has a range of 180 km and can carry nuclear and conventional warheads with "high accuracy".
The Hatf-II "provides an operational level capability to Pakistan's Strategic Forces, additional to the strategic and tactical level capability which Pakistan already possesses", the statement said.
The authorities did not say where the test was carried out.
The test was witnessed by Strategic Plans Division chief Lt Gen (retired) Khalid Kidwai, Army Strategic Force Command chief Lt Gen Tariq Nadeem Gilani, senior officers of the armed forces, scientists and engineers of strategic organisations.
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