However, Rouhani said on Friday that it would continue to strengthen its capabilities with the goal of deterring potential attacks.
At the United Nations on Tuesday, Mr Trump criticised Iran's missile programme and the 2015 nuclear deal with the country.
Moreover, it also carried in-flight video from the nose cone.The missile was launched during a military parade in Tehran which commemorated the 1980s Iran-Iraq war.
As noted, that the missile flight range of 2 thousand kilometers capable of carrying multiple warheads.
President Hassan Rowhani addressed the parade in Tehran, saying that Iran would not halt its missile programme but Iran continue to boost military capabilities, despite USA demands.
He said his country would "not be the first" to violate the deal, which Mr Trump has threatened to pull out of.
He is due to report to Congress on October 15 on whether or not he believes Iran is in compliance with the nuclear deal.
"We will strengthen our defence and military capabilities. whether you want it or not", Rowhani said, a direct response to Trump's speech at the UN General Assembly this week. "We will not seek permission from anyone to defend our country", Rouhani said in a speech broadcast on state television.
The Khorramshahr rocket was unveiled at a massive military parade in Tehran on Friday that was attended by President Hassan Rowhani.
Nothing in the nuclear agreement covers the country's missile programme, Tehran has noted, claiming it is exclusively for defence.
"Regrettably, since the agreement was confirmed we have seen anything but a more peaceful, stable region and this is a real issue", Secretary of State Rex Tillerson told reporters at the United Nations.