Dozens of families, which were evacuated after the device blew up near Old Park barracks shortly after 2am on Wednesday, have been allowed to return to their homes.
Police said the small explosion caused minor damage to perimeter fencing at the back of the station, as army technical officers left the scene.
SDLP MLA Alban Maginness has blamed dissident republicans for the attack.
"It is clearly part and parcel of a dissident republican campaign to exacerbate tension in the community and to destabilise the political situation even further", he said.
"Unfortunately, these dissident attacks are taking advantage of the political uncertainty that exists at the moment and this incident should spur politicians on to reach an agreement on the way forward for Northern Ireland."
North Belfast DUP MP Nigel Dodds branded those responsible "reckless terrorists".
"This police station is located in a residential area, surrounded by housing on all sides. These reckless terrorists cared not they were putting the lives of local people at risk with this explosive device," Mr Dodds said.
At Northern Ireland question time in the Commons, the DUP's Jeffrey Donaldson warned of the increasing risks facing the security forces.
He demanded assurances that the PSNI was getting the resources it needed to combat the "serious threat".
Northern Ireland Minister Paul Goggins condemned the attack near Old Park barracks, but said the security forces were aware of "tactical co-operation" between certain terrorist groups.
"The completion of a deal on policing and justice provides a real opportunity to snuff out those who would oppose the political and peace process," he said.
Sinn Fein MLA Gerry Kelly branded the attack a reckless and pointless exercise.
"Someone needs to explain why this attack, which could have caused serious injury or worse, was directed at what is already a derelict facility?" he asked.
"Those responsible offer our community nothing other than to cause disruption and create the potential for someone to lose their lives."
Attacks
Dissident republicans have been blamed for a spate of attacks against the security forces across the region.
Shots were fired at Bessbrook barracks in south Armagh on Sunday night but nobody was injured.
Earlier this month, Pc Peadar Heffron had his right leg amputated after a car bomb attack near Randalstown, Co Antrim.
In a similar attack, a bomb was planted under the car of a policeman's partner in east Belfast last October.
Days later a small device was thrown at the gates of the TA base in the Ashfield Crescent area, off the Antrim Road, in north Belfast.
Dissidents were also blamed for an attack on the Policing Board headquaters in Belfast last November.
A 400lb bomb partially exploded outside the police HQ after a car was driven through the barrier at Clarendon Dock. The same night, police exchanged fire with suspected dissident republicans in Co Fermanagh.
In March 2009, dissidents shot dead two soldiers at Massereene Barracks, Antrim, and a police officer in Craigavon, Co Armagh, two days later.
North Belfast police have appealed for anyone who noticed suspicious activity in the Torrens Avenue at around 2am to come forward.
"North Belfast wants to move on and prosper, and the local community does not want to pulled back into a past they want to leave behind," Chief Superintendent Mark Purdon said.
"Apart from the obvious dangers posed by a pipe-bomb type device, it also seriously disrupts and inconveniences the lives of local residents. Old people and young children have had to leave their homes because of this attack which is absolutely unacceptable."