The latest launch came after North Korea's foreign minister slammed a Sunday trilateral summit of the US, South Korea and Japan.
North Korea has conducted a record number of such tests this year, and also fired hundreds of artillery shells into the sea more recently as South Korea and the United States staged exercises, some of which involved Japan.
South Korea's military said the ballistic missile was launched from the North's east coast city of Wonsan at 10:48am (0248 GMT), flying 240km (150 miles) to an altitude of 47 km at the speed of Mach 4.
The latest launch came less than two hours after North Korea's foreign minister, Choe Son Hui, slammed a Sunday trilateral summit of the United States, South Korea and Japan, during which the leaders criticised Pyongyang's weapons tests and pledged greater security cooperation.
South Korea's military said the ballistic missile was launched from the North's east coast city of Wonsan.
At the talks, US President Joe Biden reaffirmed a commitment to reinforce extended deterrence and defend the two Asian allies with a "full range of capabilities", including nuclear weapons.
Choe said the three countries' "war drills for aggression" failed to rein in the North but would rather bring a "more serious, realistic and inevitable threat" upon themselves.
"The keener the US is on the 'bolstered offer of extended deterrence' to its allies and the more they intensify provocative and bluffing military activities ... the fiercer the DPRK's military counteraction will be," Choe said in a statement carried by the official KCNA news agency.
She referred to her country by the initials of its official name, the Democratic People's Republic of Korea.
"The US will be well aware that it is gambling, for which it will certainly regret," Choe added.
The South Korean and US militaries carried out missile defence drills after the North's latest launch, Seoul's Joint Chiefs of Staff said, strongly condemning it.
"We urge an immediate halt of North Korea's series of ballistic missile launches, which is a grave provocation damaging peace and stability," the joint chiefs said in a statement.
North Korea has said it is open to diplomacy, but that Washington's overtures are undermined by its support for sanctions and joint military drills and arms buildups in South Korea and the region.
One ballistic missile was launched about 10:17am local time from the vicinity of Sinpo, South Korea's Joint Chiefs of Staff said, where North Korea keeps submarines as well as equipment for test firing submarine-launched ballistic missiles (SLBMs).
The last time North Korea fired a missile over Japan was in 2017, at the height of a period of "fire and fury" when Pyongyang's leader Kim Jong Un traded insults with then-US president Donald Trump.
The prime ministers of Italy, Canada and Belgium — Giorgia Meloni, Justin Trudeau and Alexander De Croo — travelled with the president of the European Commission, Ursula von der Leyen, on an overnight train from neighbouring Poland.
The Council reviewed the results of the performance of the Sharjah Media Council’s strategy in 2023, which included the results of joint indicators with the council’s affiliated institutions.
Senator Ali Zafar, a top leader from Khan's Pakistan Tehreek-e-Insaf party, or PTI, made his televised remarks after meeting with Khan at the Adiala prison, where he's serving multiple prison sentences.