The projectile was fired from the northern province of Jagang into waters off the east coast
North Korea has sought to raise the pressure and carried out two short-range missile tests earlier this month
He reiterated his claims that the North was a nuclear state and insisted its expansion of the weapons programme was a defensive measure.
Multiple sets of UN sanctions failed to stop Pyongyang from carrying out its sixth and most powerful nuclear test — which it said was a hydrogen bomb.
North Korea has fired a volley of rockets in an apparent show of force to coincide with South Korea-US military exercises.
The US and South Korea have signed a new agreement to prevent North Korea from using nuclear arms and other weapons of mass destruction.
The United States says it will soon send a missile defence system to Guam to defend it from "a real and clear danger" from North Korea.
The US has positioned near North Korea a destroyer capable of shooting down missiles amid a showdown with the communist state.
North Korea has put its missile units on standby to attack US military bases in South Korea and the Pacific.
North Korea tried to export ballistic missile parts to Syria in May in violation of UN sanctions, according to Japanese media reports.
Analysts say ominous North Korean missiles are fakes and not very convincing ones, casting further doubt on the country’s claims of military prowess.