The North's leader Kim Jong-Un supervised the launch of the guided ballistic rocket -- the third missile test by the nuclear-armed regime in less than three weeks and carried out in defiance of US threats of military action and UN sanctions.
"The ballistic rocket flew toward the east sky where the day broke and correctly hit a planned target point with deviation of seven meters after flying over the middle shooting range," the state-run news agency KCNA said.
South Korea's military earlier said the Scud-type missile travelled eastward for 450 km (280 miles). Japan said it believed it had fallen into its exclusive economic zone, extending 200 nautical miles from the coast.
The missile test triggered swift condemnation from US President Donald Trump who said it showed "disrespect" to neighbouring China, the North's sole major ally, which has sought to dampen tensions over Pyongyang's weapons programme.
The launch was aimed at testing a weapon "capable of making ultra-precision strike on the enemies' objects at any area", KCNA said.
"Whenever news of our valuable victory is broadcast... the Yankees would be very much worried about it and the gangsters of the South Korean puppet army would be dispirited more and more," Kim was quoted as saying.
