The missile was launched near North Korea's capital Pyongyang in the morning and covered about 1,000 kilometres before crashing into the sea, South Korea's Joint Chiefs of Staff said in an update, describing the missile as capable of carrying nuclear warheads.

Seoul and Tokyo condemned Pyongyang's latest missile test. South Korean President Yoon Suk Yeol accused the neighbouring country of a strong provocation during a National Security Council session, before departing for Japan.

"North Korea will certainly pay for reckless provocations," the president was quoted as saying by news agency Yonhap.

Yoon was scheduled to meet Japanese Prime Minister Fumio Kishida in Tokyo later on Thursday for talks where, according to the South Korean agency, Pyongyang's missile tests were expected to be high on the agenda.

The US meanwhile condemned what it called an intercontinental ballistic missile test.

UN resolutions prohibit North Korea from testing ballistic missiles of any range, which - depending on their design - can also be equipped with a nuclear warhead. Pyongyang has increased the number of missile tests since last year.

Missiles with the capability to travel more than 5,500 kilometres are counted as ICBM.

"This launch is a flagrant violation of multiple UN Security Council resolutions," US National Security Council spokesperson Adrienne Watson said in a statement. "This launch needlessly raises tensions and risks destabilizing the security situation in the region."

"It only demonstrates that the DPRK continues to prioritize its unlawful weapons of mass destruction and ballistic missile programs over the well-being of its people," Watson said. "The United States will take all necessary measures to ensure the security of the American homeland and Republic of Korea and Japanese allies."

The latest launch comes after Pyongyang confirmed having fired on Tuesday two "ground-to-ground tactical ballistic missiles" targeting an islet in the Sea of Japan off the country's east coast after South Korea and the United States kicked off a major joint exercise dubbed "Freedom Shield" early this week.

Pyongyang had recently threatened countermeasures should the US and South Korea stage further military exercises. This was taken to mean a new series of missile tests or a new nuclear test by regional observers.

Tensions on the Korean peninsula have increased considerably again since last year, with North Korea increasingly testing nuclear-capable missiles.

On Sunday, North Korea fired two missiles from a submarine in the East Sea. This test is said to have also served as a nuclear deterrent.