The state TV also showed several KN-08 missiles being rolled out on trucks at the parade.
Trump has threatened that if China isn't willing to do more to squeeze the North over its nuclear and missile programmes, the U.S. might take matters into its own hands.
The U.S. had scrambled a carrier battle group led by the USS Carl Vinson to the area near the Korean Peninsula, prompting aggressive comments from North Korea on Friday.
With the US Navy deployed near the Korean peninsula, and experts speculating that Pyongyang was preparing another nuclear test, Beijing said that the tensions were getting close to the breaking point.
The United States was reportedly ready to strike North Korea if USA officials became convinced the country would carry out its test, and the Trump administration said its "strategic patience" with the country has run out.
The reclusive state has always been on a quest to develop a long-range missile capable of hitting the USA mainland with a nuclear warhead, and has so far staged five atomic tests, two of them previous year.
"How the (President Donald) Trump administration will handle the matter probably depends on whether North Korea conducts a sixth nuclear test", the same source said.
The moves are seen as an implicit warning to North Korea that Washington is not afraid to use force.
USA officials feared Kim Jong-un would mark the national holiday by launching North Korea's sixth nuclear weapons test, since the country has used previous holidays to showcase its military prowess.
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"We're prepared to respond to an all-out war with an all-out war and we are ready to hit back with nuclear attacks of our own style against any nuclear attacks", Choe Ryong-Hae said in a speech at a ceremony before a large military parade started.
It said the Trump administration's "serious military hysteria" had reached a "dangerous phase that can no longer be overlooked".
In a separate appearance on the Fox Business Network, Trump said that North Korean leader Kim Jong Un was "doing the wrong thing".
As tension between the United States and North Korea has increased, China has urged both sides to step back from the brink of war.
"That is something that our headquarters decides", he said.
The attempted launch Sunday in North Korea came hours before Vice President Mike Pence, briefed about the situation while aboard Air Force Two, was set to arrive in South Korea.
The move, coupled with the US retaliatory strikes against Syria over a chemical weapons attack on civilians, touched off fear in South Korea that the United States was preparing for military action on the North.
As the world held its breath amid growing nuclear tension thousands of North Korean soldiers, sailors and airmen put on a intimidating display of military might.