|Missiles are driven past North Korean leader Kim Jong Un and other high ranking officials. File pic|
The projectile reached an altitude of around 348 miles and travelled about 310 miles before landing in the Sea of Japan, the South's military said.
It was fired from Pukchang, the location of a military airport north of capital Pyongyang, officials said.
The White House said the projectile, which was tracked by US Pacific Command, had "a shorter range than the missiles launched in North Korea's three most recent tests".
South Korean President Moon Jae-in held a National Security Council meeting to discuss the launch, which his foreign ministry described as "reckless and irresponsible".
|Kim Jong Un is applauded after a missile launch earlier this month|
Meanwhile, Japanese Prime Minister Shinzo Abe said he would raise the issue at a G7 summit in Italy next week.
Earlier this month, North Korea launched a medium long-range ballistic missile called the Hwasong-12, which it said was capable of carrying a heavy nuclear warhead .
That missile - which was launched from a site in Kusong, North Pyongan - flew for about 30 minutes, travelling about 500 miles (800km) before landing in the Sea of Japan, according to Tokyo.
On Sunday, North Korean state newspaper Minju Joson threatened more missile launches.
N Korean ambassador: 'Nuclear weapons needed for peace'
Kim Jong Un is applauded after a missile launch earlier this month
"Many more weapons capable of striking the US will be launched from this land. This is the DPRK's answer to the Trump administration."
North Korea regularly tests short-range missiles, but it is also said to be working to master the technology needed to field nuclear-tipped missiles that can reach the US mainland.
The launch of the Hwasong-12 was its 10th test this year.