"The US is deploying them (missile defence systems) at their military bases in Romania and Poland, that is near our western borders, which goes against the 1987 INF Treaty banning the deployment of such systems on the ground," Ryabkov said in a statement published on the Russian Foreign Ministry website.
"The fact that such complexes could now appear on Russia's eastern borders creates a situation that we cannot ignore in our military planning," said Ryabkov.
"We consider the step made by the Japanese side as going against efforts of ensuring peace and stability in the region," Zakharova said, adding that Moscow has "deep regret and serious concern" over the move.
On December 19, the Japanese government approved the installation of two land-based US-made Aegis Ashore missile defence systems to defend the country against North Korea's growing nuclear and missile threats.
Japan plans to increase its budget defence for the next fiscal year to strengthen its missile defence against the threat posed by its neighbour.
The move is controversial as Japan's pacifist constitution bans the use of force as a means of settling international disputes.
After North Korea launched a missile over Japan's Hokkaido island in September, Japanese Prime Minister Shinzo Abe said he would "never tolerate" North Korea's "dangerous provocative action" and has urged the international community to ramp up pressure on Pyongyang.
North Korea has threatened to "sink" Japan into the sea.
Global anxiety about North Korea has steadily risen this year, with Washington calling on other UN members to cut ties with Pyongyang in order to squeeze the secretive regime.
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