On Wednesday, the Joint Chiefs of Staff (JCS) said that the missile was launched at 7:11 am (2211 GMT Tuesday) and flew around 450 kilometres in an easterly direction, South Korea's Yonhap news agency reported.
The agency cited the body as saying that the projectile reached a maximum altitude of about 910 kilometres, saying that the missile could have travelled much further had it been fired at a lower angle.
The Japanese government, which said that a ballistic missile fell into the country's territorial waters, condemned the launch.
"The launch of ballistic missiles violates UN Security Council resolutions. We sternly lodge a protest over the launch and strongly condemn it," Japanese Prime Minister Shinzo Abe told reporters.
"We will do the utmost to protect the safety of the people and stay on high alert while coordinating with the United States and the international community," he added.
KCNA said that the missile had "no adverse impact on the security of neighboring countries," adding that the launch "ushered in a new phase in containing the outside forces' threat to [North Korea] and further bolstering its military muscle for self-defence."
----------------------------------------------------------------------------------------------------------------