The launch was after a US nuclear-powered submarine arrived at a naval base in South Korea.
Japan also reported the launch. Japanese media cited a government source as saying there may have been multiple missiles launched.
Circumstances have been tense on the Korean Peninsula.
South Korea and the United States keep holding joint drills, flexing military muscles in the region. North Korea says the United States' deployment of military assets on the peninsula is provocative.
Pyongyang fired a barrage of cruise missiles into the sea off its west coast over the weekend.
The nuclear-powered submarine was the second of its kind to enter South Korea in a time span of one week. It arrived at the base on the southern island of Jeju. The sub was to load military supplies while on an unspecified operational mission, the South Korean Navy said.
The USS Kentucky, an Ohio-class submarine, arrived in the port of Busan on July 18, marking the first visit by a US ballistic missile submarine to the country in almost 44 years.
Source: Press TV#US #North Korea about 3 Hours
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