North Korea views all such exercises as rehearsals for invasion and has repeatedly warned it would take "overwhelming" action in response.
The Hwasong-17 is North Korea's biggest missile yet and was launched following the start of South Korean and American joint military drills held on a scale not seen since 2017.
The United States and South Korea say the exercises are in self-defence and are necessary to counter the rising threats from North Korea's ballistic missile and nuclear weapons programmes.
The United States accuses UN Security Council of a lack of action on North Korea's ballistic missile launches, warning that the 15-member body's failure to respond emboldens the DPRK.
The secretive Communist country has scaled up its military rhetoric in response to joint drills by US and Korean warplanes this week.
Test of "nuclear deterrence capability" makes India one of six countries -- alongside US, UK, Russia, France and China -- with nuclear strike and counterstrike capabilities on land, sea and air.
South Korean military's Hyunmoo-2 missile fails shortly after launch and crashes during the drill with US military, panicking residents and leading many to believe it could be a North Korean attack.
Launch comes as navies of South Korea, US and Japan stage trilateral anti-submarine exercises for the first time in five years.
It is the third round of missile launches by North Korea this week, extending a record pace in weapons testing as it accelerates a push to expand its arsenal and pressure Washington to accept it as a nuclear power.
Pyongyang fires a short-range ballistic missile toward its eastern seas, Seoul says, as US aircraft carrier visits South Korea for joint military exercises.
The launch comes just a week after North Korean leader Kim Jong-un vowed to boost Pyongyang's nuclear arsenal at the "fastest possible speed."
The "unidentified projectile" fired toward the East Sea is presumably a long-range ballistic missile, Seoul and Tokyo said, amid fears that Pyongyang could be preparing to test-fire an ICBM.
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