The missile was launched from an underwater position in the White Sea to the Kura range on the Kamchatka Peninsula in far eastern Russia, it said in a statement.
The flight of the missile proceeded in normal mode, and its dummy warheads were delivered to the range at a set time, it said.
Borei-A-class submarines, capable of carrying up to 16 Bulava intercontinental ballistic missiles each, are an upgraded version of previous Borei-class vessels. These submarines are expected to form the basis of Russia's naval strategic nuclear force.
Four Borei-class submarines have been built so far. The Yuri Dolgoruky submarine is serving the Northern Fleet, while the other two -- Alexander Nevsky and Vladimir Monomakh -- are with the Pacific Fleet.
The Prince Vladimir was floated out in 2017 and is undergoing sea trials.