South Korea said it detected the launch at 07:27 local time on Tuesday (22:27 GMT on Monday).
Japan’s coast guard also reported the launch, saying it was a ‘ballistic missile-like object’. It comes less than a week after North Korea launched what it claimed was a hypersonic missile.
The latest launch underscores North Korean leader Kim Jong-un’s pledge to bolster the country’s defences as part of its policy priorities for 2022, which were outlined during a key meeting in December.
Six countries issued a statement urging the North to cease its destabilising actions and engage in meaningful dialogue towards the shared goal of complete denuclearisation.
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