Yonhap news agency quoted South Korea's Joint Chiefs of Staff (JCS) as saying that North Korea fired off three ballistic missiles, which were believed to have been a Scud-C type, from the western region of Hwangju in North Hwanghae province between 5.45 a.m. and 6.05 a.m.
The missiles were directed toward the East Sea, travelling about 500 to 600 km, which are a flight enough to reach the entire South Korean territory, Xinhua news agency reported.
It marked the first time since March that Pyongyang launched Scud-type missiles.
The test-launch came six days after Seoul and Washington agreed to deploy one THAAD battery to the Seongju county by the end of next year.
The North Korean military has threatened to take "physical measures" against THAAD when the deployment site is determined in response to the deployment decision.
THAAD is an advanced US missile defence system designed to shoot down missiles at a relatively high altitude of 40-150 km using a hit-to-kill technology. North Korea's short-range missiles are known to fly at a lower altitude of about 20 km incapable of being intercepted by THAAD missiles.
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