The missile was fired at about 5:40 p.m. local time (9:10 GMT) and flew over 120 miles before hitting a land target, the South Korean Yonhap agency reported, citing a South Korean military official.
The official stressed that Seoul was maintaining a high level of readiness while monitoring the situation.
Tensions on the Korean Peninsula escalated after North Korea successfully carried out a hydrogen bomb test in early January and put a satellite into orbit a month later, violating UN Security Council resolutions and triggering condemnation from the international community.
The missile test becomes the forth after North Korea launched five short-range missiles that landed in the Japan Sea on March 21.
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