North Korea has fired another medium-range missile in its latest ballistics test.
The rocket was fired from an area near the North Korean county of Pukchang, in South Phyongan Province, and flew eastward about 500 km (310 miles), said South Korea's Joint Chiefs of Staff.
The US Pacific Command said it tracked the missile before it landed in the sea.
White House officials travelling in Saudi Arabia with President Donald Trump said the system, which was last tested in February, has a shorter range than the missiles launched in North Korea's most recent tests.
An official from South Korea's Joint Chiefs of Staff said the missile appeared to be similar to a midrange solid-fuel missile that North Korea fired in February.
The missile fired on Sunday reached a maximum altitude of 560 km (347 miles), said the official.
In February, North Korea used a launcher truck to fire a solid-fuel missile that it calls the Pukguksong (Polaris)-2, a land-based version of a submarine-launched missile the country revealed earlier.
That missile travelled about 500 km before crashing into the sea, according to officials.
The February launch, the North's first missile test after Donald Trump took office, alarmed neighbours because solid-fuel missiles can be fired more quickly than liquid-fuel missiles, which need to be fuelled before launch and require a larger number of vehicles, including fuel trucks, that could be spotted by satellites.
South Korea's new president, Moon Jae-in, held a National Security Council meeting to discuss Sunday's launch, which came hours after he named his new foreign minister nominee and top advisers for security and foreign policy. He did not make a public statement after the meeting.
In Tokyo, Japanese Prime Minister Shinzo Abe called the launch a "challenge to the world" that tramples international efforts to resolve the North Korean nuclear and missile problems peacefully, and vowed to bring up the issue as the "main agenda" of this week's G7 summit in Italy.
The launch came a week after North Korea successfully tested a new midrange missile that it said could carry a heavy nuclear warhead.
Experts said that rocket flew higher and for a longer time than any other missile previously tested by North Korea, and that it could one day reach targets as far away as Hawaii and Alaska.
Under the watch of dictator Kim Jong Un, North Korea has been aggressively pursuing a decades-long goal of putting a nuclear warhead on an intercontinental ballistic missile capable of reaching the US mainland.
North Korea conducted two nuclear tests last year alone, possibly improving its ability to make nuclear weapons small enough to fit on long-range missiles. The country has also conducted a slew of rocket launches as it continues to advance its arsenal of ballistic weapons, which also include midrange solid-fuel missiles that could be fired from land mobile launchers or submarines.
Such tests present a difficult challenge to Moon, a liberal who took over as South Korea's president on May 10 and has expressed a desire to reach out to North Korea.
Pyongyang's aggressive push to boost its weapons program also makes it one of the most urgent foreign policy concerns for the Trump administration, though Washington has struggled to settle on a policy.
South Korea's Foreign Ministry said in a statement that the North's latest launch "throws cold water" on the expectations by Moon's government to "stabilise peace and denuclearise the Korean Peninsula."
"Our government is open to the possibility of dialogue with North Korea, but will also maintain a stance of firmly responding to provocations," the ministry said.