The missiles are "a strategic weapon of great significance" and flew 1,500 km before hitting their targets and falling into the country's territorial waters, state media said.
North Korea could have around 60 nuclear weapons, according to analysts.
North Korea launched multiple projectiles into the sea earlier this month as part of firing drills, according to South Korea's military, drawing US and Chinese appeals for Pyongyang to return to talks on ending its nuclear and missile programmes.
The launches came after North Korea said a day earlier that it was willing to restart nuclear talks with the United States in late September.
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