The President has previously argued that Russia had to develop new weapons in response to the development of the US missile defence system that threatens to erode Russia's nuclear deterrent.
Tsirkon's tests will continue for some time before the newest missile can be deployed on Russian vessels and submarines, according to Gerasimov who did not give a timeline for the completion of those tests.
The missile test comes at a point when military relations between Russia and the United States are their worst since the end of the Cold War.
Washington last year pulled out of a key nuclear arms treaty, citing Russian violations.
Time is also running out on the New Strategic Arms Reduction Treaty, the last major nuclear arms agreement between the two countries which is due to expire in February.
Russia and the US have spent months negotiating an extension for the treaty as the Trump Administration insists that it will only renew the deal if Russia makes additional commitments.
The expiry of the treaty would leave the world with no legal restrictions on US and Russian nuclear weapons for the first time in almost half a century.