The South Korean and US militaries respectively fired two Army Tactical Missile System (ATACMS) missiles that hit test targets, the South Korean Joint Chiefs of Staff said.
South Korean President Yoon Suk-yeol had called Pyongyang’s shot a “provocation” and called for a “firm response.”
On Tuesday, US and South Korean fighter planes had launched a bombing exercise in the Yellow Sea.
The last time Pyongyang fired a missile over Japan was in 2017, amid a period of high tension between North Korean leader Kim Jong Un and then-US President Donald Trump.
UN Secretary-General Antonio Guterres said the latest North Korean test had been “clearly an escalation.”