Mr Biden added that defence officials called it “business as usual”.
The incident happened after Pyongyang criticised the US and South Korea for conducting joint military exercises.
South Korea said two cruise missiles were fired into the Yellow Sea early on Sunday from Onchon in North Korea.
Responding to reporters’ questions on Tuesday night, Mr Biden said: “We have learned that nothing has changed.”
When asked if he considered the test a provocation, he said: “No, according to the Defence Department, it’s business as usual. There’s no new wrinkle in what they did.”
This is no “fire and fury” from North Korea.
It’s true that every test of a missile by Pyongyang helps improve its military capabilities and that is always a concern to the international community.
The current focus of the new White House team and its allies is the impending review on North Korea policy.
So President Biden is most likely shrugging off this latest missile test for good reason – there’s a much bigger challenge ahead.
Senior US officials have separately said they considered the launch “normal military activity by the North”.
They added they were in the “final stages” of their North Korea policy review and planned to host Japan and South Korea’s national security advisers for a discussion soon.
Pyongyang has yet to acknowledge that President Biden is now in office, and the two countries remain at loggerheads over the North’s nuclear and ballistic missile programmes.