
Colonel Lee Peters, a spokesman for U.S. military forces in South Korea, said: 'We are aware of reports of a missile launch from North Korea and we will continue to monitor the situation.'
He did not comment when asked whether the joint South Korea-U.S. drills, scheduled to begin next month, would continue.
Japan's defence ministry said no missiles had reached Japanese territory or its exclusive economic zone, and the launches did not threaten Japan's immediate security.
The South Korean and U.S. militaries were trying to gather more details.
The test would be yet another North Korean violation of U.N. Security Council resolutions, which has seen the country hit with crippling sanctions.
Some experts say North Korea wants a U.S. promise to ease sanctions, accept a slow, step-by-step disarmament process by the North or for the U.S. to make other concessions once the diplomacy restarts.
Speaking to reporters accompanying him to an Asian security forum in Thailand, U.S. Secretary of State Mike Pompeo said he's very hopeful for a quick resumption in the nuclear talks.
He said he's waiting to see if North Korea's foreign minister comes to the meeting in Bangkok and is confident the two will see each other if he does.
Despite a recent lack of progress in nuclear diplomacy, both Trump and Kim have said they have maintained good relations with each other.
After last Thursday's missile launches, Trump tried to downplay the significance of the tests, saying that 'short-range' was the most important detail.
He said North Korea fired 'standard' missiles that many countries possess.
South Korea's military said the flight data of the weapon launched last week showed similarities to the Russian-made Iskander, a short-range, nuclear-capable missile.
A North Korean version could likely reach all of South Korea - and the 28,500 U.S. forces stationed there - and would be extremely hard to intercept.
Before last week's launches, North Korea last fired missiles into the sea in early May, and experts said those were also Iskander-like missiles.
During Wednesday's briefing, the South Korean military intelligence officers said that an analysis of North Korea-dispatched photos showed that the North fired four missiles on two days, according to Lee, the lawmaker.
South Korea earlier said the North fired a total of three missiles at the time.
After entering talks with Washington, North Korea has suspended nuclear and long-range missile tests, and Trump has said that is proof that his North Korea policy is working well and has eased the danger of a war with the North.
In 2017, Trump and Kim exchanged crude insults and threats of destruction as Kim oversaw a series of high-profile nuclear and missile tests meant to build nuclear missiles capable of reaching the continental United States.
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