South Korea is protected under an American security umbrella and is home to thousands of U.S. troops.
USA officials said on Wednesday that the missile appeared to be a liquid-fueled, extended-range Scud missile which only traveled a fraction of its range.
North Korea on Wednesday carried out the launch of an intermediate range ballistic missile Pukguksong-2. The earlier one in February flew about 500 kilometers (310 miles). The missile allegedly malfunctioned shortly after launching, causing it to spin out of control and crash into the sea.
The U.N. Security Council on Thursday strongly condemned North Korea for its ballistic missile test this week.
The missile could cover a full range of targets in North Korea if deployed from the southeastern city of Pohang.
The firing was made as South Korean and USA troops were conducting annual military drills that the North views as an invasion rehearsal.
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"Initial assessments indicate the type of missile was a KN-15 medium range ballistic missile", it said. While submarines are a stealthy way to do that, North Korea doesn't have enough of them.
Ahead of the US-China summit in Florida, Trump had threatened to use crucial trade ties with China to pressure Beijing into more action on North Korea. Defense Minister Han Min-koo reportedly inspected the launch and the missile was said to have met all requirements for a normal test - including flight and accuracy. North Korea carried out two nuclear tests previous year.
North Korea's state media have said the world will soon witness what they called "eventful successes" in the country's space development.
In a statement, the European Union called on North Korea to resume talks with the global community, "to cease its provocations and to abandon all nuclear weapons and existing nuclear programmes as well as other weapons of mass destruction and ballistic missile programmes".
Japan has lodged a protest following a reported North Korea ballistic missile launch.
Abe said that he told Trump that Japan is paying close attention to how China handles the issue of North Korea.
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The Pentagon last April told Congress that North Korea continues to develop a mobile intercontinental ballistic missile that "would likely be capable of reaching much of the continental United States". The success or failure of the test was not mentioned by either side on Wednesday.
Unlike a liquid-fuel missile that takes time to erect and fuel, activities which "we can watch", mobile solid-fuel weapons are more hard to track, he said. "We need to balance the interest of each side".
United Nations resolutions bar North Korea from developing nuclear and missile technology.
THAAD is a missile defense shield created to intercept short and medium range missiles.
The next USA intercept attempt will be the first since a successful test in June 2014.
As well as a growing list of ballistic missile launches, North Korea has also conducted two nuclear weapons tests since January 2016.
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The North's latest missile launch also came during annual military drills between the United States and South Korea.