North Korea missile prompts Japan 'take cover' warning

The missile was launched off the east coast of the Korean Peninsula, South Korea's Joint Chiefs of Staff said.

The launch comes two days after North Korean state media KCNA reported that leader Kim Jong-un called for strengthening the country's war deterrence in a "more practical and offensive" manner to counter what it called moves of aggression by the United States.

North Korea has criticiced the recent series of joint military exercises between the United States and South Korea as escalating tensions, stepping up its weapons tests in recent months.