We will strengthen our missile capabilities.
But Trump, who this week described the deal as an "embarrassment", is due to report to the US Congress on October 15 on whether or not he believes that Iran is in compliance.
"The Khoramshahr missile has a range of 2,000 kilometres (1,250 miles) and can carry multiple warheads", the official IRNA news agency quoted Revolutionary Guards aerospace chief General Amir Ali Hajizadeh as saying.
"We will increase our military power as a deterrent".
Iranian President Hassan Rouhani, while speaking during the parade, said Tehran would press ahead with strengthening its missile capabilities and military defenses.
The UN Security Council's resolution 2231 which after the 2015 nuclear deal replaced previous UNSC's sanctions, calls upon Iran "not to undertake any activity related to ballistic missiles created to be capable of delivering nuclear weapons, including launches using such ballistic missile technology".
"Rouhani is putting down a strong marker that Iran's missile programs are not on the negotiating table", he adds.
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His comments came just days after Mr Trump delivered a speech at the United Nations in which he accused Iran of exporting violence to Yemen, Syria and other parts of the Middle East, and called Iran's government a "murderous regime" that shouldn't be allowed to have missiles.
Former President Barack Obama has maintained the deal cut off a pathway to nuclear weapons for Iran and made the world safer.
He also criticised the 2015 pact struck by Iran and six major world powers under which Tehran agreed to restrict its nuclear programme in return for loosening economic sanctions.
Tehran is not pursuing construction of its existing heavy water research reactor and has not enriched uranium above the agreed 3.67-percent limit, the report concluded, adding that Iran's stockpile of low-enriched uranium (which can be used for peaceful purposes unless further processed for a nuclear weapon) was 101.7kg - considerably lower than the agreed level of 300kg.
Iranian officials have argued that the measure only applies to missiles specifically created to carry nuclear warheads.
"It will be a great pity if this agreement were to be destroyed by rogue newcomers to the world of politics", the Iranian leader told the UN General Assembly.