North Korea has fired an intermediate-range ballistic missile that flew over Japan before landing in the northern Pacific Ocean, The Telegraph reported on Friday.
It was the second aggressive test-flight over the territory of the close US ally in less than a month and it followed the sixth and most powerful nuclear test by North Korea to date on September 3.
South Korea's Joint Chiefs of Staff said the missile travelled about 3,700 kilometers (2,300 miles) while reaching a maximum height of 770 kilometers (478 miles).
The missile, launched from Sunan, the site of Pyongyang's international airport, flew farther than any other missile North Korea has fired. The distance it flew is slightly greater than between the North Korean capital and the American air base in Guam.
Sirens sounded and alerts were issued in Japan as residents were warned to take shelter while the missile passed over Hoakkaido.
Jim Mattis, US Defence Secretary, called the latest missile launch a reckless act and "put millions of Japanese in duck and cover".
US Secretary of State Rex Tillerson urged China and Russia to do more to rein in North Korea.
"China and Russia must indicate their intolerance for these reckless missile launches by taking direct actions of their own," Tillerson said in a statement.
In response to the launch, South Korea's military immediately carried out a ballistic missile drill of its own, the defense ministry said, adding it took place while the North's rocket was still airborne.