Pentagon spokesman George Little says two Iranian fighter jets fired on an unarmed US drone in international airspace over the Gulf on November 1.
The Pentagon has warned that the United States stood ready to protect its forces in the region.
The incident occurred on Nov 1, less than a week before the presidential election, but the Pentagon kept it quiet. "They intercepted the aircraft and fired multiple rounds," said George Little, a spokesman.
The incident threatens to worsen relations between Washington and Tehran amid tensions over Iran's nuclear programme.
President Barack Obama and Defense Secretary Leon Panetta were both advised early on about the unprecedented incident on Nov 1.
Iran was later warned through diplomatic channels the US would keep conducting surveillance flights in the region and would protect its military assets, Mr Little said.
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