Speaking on a visit to Italy, Lavrov strongly condemned comments made by US Ambassador to the United Nations Nikki Haley, who earlier this week warned North Korea's leadership it would be "utterly destroyed" if war were to break out after Pyongyang test fired its most advanced missile.
"The dictator of North Korea made a decision yesterday that brings us closer to war, not farther from it", she said.
North Korea said the missile reached a height of 2,796 miles and traveled 596 miles, demonstrating the potential to reach a range of 8,100 miles. However, North Korea's leader Kim Jong-un called the launch "impeccable" and a "breakthrough".
Kim Jong Un inspects the Hwasong-15 intercontinental ballistic missile.
Separately, the council will meet to discuss human rights abuses in North Korea on 11 December.
The US remains determined to stop North Korea from building a credible nuclear force, but it's looking less likely it will be able to do so diplomatically.
China also suggested the North should stop the tests in return for a halt to U.S. military exercises - a proposal Washington has rejected in the past.
He said this is probably much lighter than any real nuclear payload the North can produce.
As Paul Bracken, a professor of political science at Yale, told Business Insider, Trump has "been reasonably effective" in isolating North Korea and rallying support for sanctions internationally.
Mr Trump also "emphasised the need for China to use all available levers to convince North Korea to end its provocations and return to the path of denuclearisation".
During a speech in St. Charles, Mo., on November 29, President Trump referred to North Korean leader Kim Jong Un as "Little Rocket Man" and "sick puppy".
"What matters is the fact that the drill simulating an actual war is to be staged at a time when insane President Trump is running wild", a commentary carried by the official Korean Central News Agency said.
North Korea has tested intercontinental ballistic missiles before, but researchers found them prohibitively small for delivering a heavy nuclear device halfway around the world to the continental US.