Separately, police fired rubber bullets to disperse anti-government protesters in Bangkok as the host of the Asia-Pacific Economic Cooperation (APEC) summit, Thai Prime Minister Prayuth Chan-ocha, opened the conference.
U.S. Vice President Kamala Harris called an emergency gathering of leaders from Australia, Japan, South Korea, Canada and New Zealand on the sidelines of the summit after North Korea carried out the missile test.
"This conduct by North Korea most recently is a brazen violation of multiple U.N. Security Council resolutions," she said.
Japanese Prime Minister Fumio Kishida, who is in Bangkok for the APEC meeting, told reporters North Korea had "repeated its provocations with unprecedented frequency".
First Deputy Prime Minister Andrei Belousov is representing him at APEC.