Missile's 'color stripe' and general shape doesn't match that of a Trident II, the current US SLBM. If anything it more resembles a PLV, a relatively recent US ABM system (See Pic). That said, given the low resolution of the image it's hard to accurately classify the vehicle type beyond a guided missile of some kind.
There's some unsettling things though with this event, this missile is inside the detection zone of the early warning radar at Beale AFB, as well as those fancy multi-spectrum missile launch detection satellites the US and Russia have in space. You're really going to tell me nothing picked this up? since clearly no double flash event was realized the only answers remaining are that our systems are comped (not showing full Intel picture: Very bad for US Space command), event is classified and 'never happened', or it wasn't a rocket; only #2 sort of fits but even if that is the case, this is the sort of thing that makes the red phone in the white house ring.
As talk of this picks up we'll likely see a statement that the missile was 'indeed a training exercise' of some sort, but given the lack of warning, q's posts, as well as the strange event in Hawaii not that long ago; if someone is launching rogue nukes we're really in deep shit. That said, if they really wanted to nuke the USA, they'd be better off just putting one in a container ship and sailing it into a large port; so why bother with the missiles at all? Too many questions from this one.