US President Joe Biden arrives in South Korea on the first leg of his Asia trip and will travel to Japan where he will attend a regional summit of the Quad - a grouping of Australia, India, Japan and the United States.
The military exercises, which coincide with US President Joe Biden's first Asia trip as president, will continue through Monday, according to Chinese officials.
"Our intelligence does reflect the genuine possibility" of nuclear-capable missile tests or a nuclear weapon test around the time of US President Biden's trip, National Security Advisor Jake Sullivan says.
White House is still finalising details of President Biden's Asia schedule, US officials say, but a trip to the heavily fortified DMZ separating the two Koreas is a step that is taken by many who visit the region.
Yoon Suk-yeol calls for "complete denuclearisation" of North Korea, saying in his first speech as president that Pyongyang's weapons programmes were a threat to global security.
The missile was fired from waters near the eastern port city of Sinpo, the country's first demonstration of a submarine-fired ballistic system since October last year.
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."
Leader of North Korea Kim Jong-un has said that the country will continue to bolster its nuclear capabilities despite being under biting international sanctions over its nuclear weapons programme.
North's Kim Jong-un exchanged letters with outgoing South Korean President Moon Jae-in and thanked him for trying to improve relations, state media KCNA reports, amid tension over Pyongyang's weapons tests.
Yoon Suk-yeol won the March election by an extremely narrow margin after appealing to disgruntled young, male voters with a promise to scrap the Ministry of Gender Equality.
This year marks the first time the tournament will be held in the Middle East and has been pushed to later in the year than is typical to avoid the region’s summer heat.
Doubts have been raised by Seoul and Washington whether Pyongyang fired a new "monster missile" or just the same intercontinental ballistic missile launched several years ago.
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