The Democratic People's Republic of Korea (DPRK) fired two short-range ballistic missiles into eastern waters, Yonhap news agency reported on Thursday, citing South Korea's Joint Chiefs of Staff (JCS).
The launch came a day after the DPRK's Defense Ministry issued a statement denouncing what it called the "provocative and irresponsible" drills between South Korea and the United States.
The JCS said it detected the launches from the Sunan area in Pyongyang between 7:25 p.m. and 7:37 p.m. local time. It did not elaborate further, pending an analysis, Yonhap reported.
Tokyo also confirmed the launch. Japan's Defense Ministry said the two ballistic missiles landed within the country's exclusive economic zone (EEZ), possibly having flown in an irregular trajectory.
Japan has lodged protest with the DPRK over Thursday's launch, said Japanese Prime Minister Fumio Kishida, calling Pyongyang's latest action a grave violation of UN resolutions.
The launch also came as U.S. President Joe Biden's national security adviser, Jake Sullivan, was in Tokyo for meetings with his Japanese and South Korean counterparts.
(With input from agencies)