North Korea has fired a ballistic missile from a submarine off its east coast, say the US and South Korea.
The KN-11 missile was launched from waters near Sinpo and flew about 500 kilometres before falling into the Sea of Japan, a US official said.
Japan’s prime minister said it fell inside Japan’s air defence identification zone, calling it a “reckless act”.
It comes as South Korea and the US begin annual military drills, which routinely anger North Korea.
The military drills involves about 80,000 US and South Korean troops in a largely computer-simulated defence of South Korea from a fictional North Korean invasion.