Seoul says the missile was launched on a high angle near Pyongyang and fell in the waters between the Korean Peninsula and Japan following a 1,000-kilometer (620-mile) flight.
The launch came hours before South Korea and the United States were set to kick off their largest joint exercises in five years amid nuclear-armed Pyongyang warning such drills could be seen as a "declaration of war".
The influential sister of North Korean leader Kim Jong-un warns that the country is ready to take "quick, overwhelming action" against the United States and South Korea, as the allies expand their regular military drills.
North Korean leader Kim Jong-un orders development of new intercontinental ballistic missiles with nuclear counterattack capability and massive production of tactical nuclear weapons at a key meeting of ruling Workers' Party.
President Recep Tayyip Erdogan also criticised the US for giving support and weapons to terrorist organisations in northern Syria.
The ballistic missile has been estimated to have hit a maximum altitude of 2,000 kilometres and flown around 800 kilometres for half an hour, Seoul's military said.
North Korea's leader Kim Jong-un personally oversaw the successful launch of the hypersonic missile, the state media said, in a second such test in less than a week.
Restoration of an inter-Korean hotline comes three days after Pyongyang test-fired a newly developed anti-aircraft missile in the fourth round of weapons firings in recent weeks.
Seoul tested a domestically built submarine-launched ballistic missile hours after rival North Korea fired two ballistic missiles toward the sea.
Nuclear envoys from Japan, South Korea and the US hold talks a day after Pyongyang tested a long-range missile.
The DPRK fired its highest-ever intercontinental ballistic missile reaching an altitude of 4,475 kilometres (2,781 miles).
North Korea on Saturday conducted another successful test of an intercontinental ballistic missile that proved its ability to strike the US mainland, drawing a sharp warning from Trump and a rebuke from China.
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