The Government is expected to face questions in the Commons over the issue, with Labour demanding a full inquiry.

Mrs May’s denial will prompt questions over her decision to force a Commons vote on Trident renewal just weeks after the alleged failure.

Admiral Lord West, the former head of the Royal Navy, told Sky News that not revealing that the incident had occurred was "quite extraordinary".

In an article in the Daily Mail he added: "When a missile test goes wrong, the North Koreans deny it. So did the old Soviet Union. But for Britain to stoop to cover-ups, to tell lies and pretend that everything is fine is beyond the pale.

"When people suspect facts are being withheld about atomic arms, that’s when fear of a nuclear catastrophe can take hold."

He added that he is "totally confident" that the missiles work, but called on the defence secretary to explain the test in the House of Commons today to "reassure" the country.