"I believe it is enough. We are bearing the costs of what we ought to pay at present," Inada said, as quoted by the Kyodo news agency.
Tokyo has been paying 200 billion yen ($1.9 billion) per year for the US military protection as part of NATO cooperation.
Trump, who won an unexpected victory in the presidential vote on Tuesday, during his election campaign has pledged to make countries such as Japan, Germany and South Korea pay for their alliance with the United States and their protection by the US troops present on their territories.
Trump’s inauguration is due on January 20.