The Intermediate-Range Nuclear Forces Treaty (INF) was signed by US President Ronald Reagan and Soviet leader Mikhail Gorbachev in 1987.
It banned missiles with ranges between 500 and 5,500 km (310-3,400 miles).
But earlier this year the US and Nato accused Russia of violating the pact by deploying a new type of cruise missile, which Moscow has denied.
The Americans said they had evidence that Russia had deployed a number of 9M729 missiles - known to Nato as SSC-8. This accusation was then put to Washington's Nato allies, which all backed the US claim.
President Donald Trump announced in February that the US would withdraw from the pact if Russia didn't come into compliance, and set the deadline for 2 August.
Russian President Vladimir Putin suspended his country's own obligations to the treaty shortly afterwards.
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