The resolution, which North Korea's UN ambassador Pak Gil Yon described as "gangster-like," demanded the immediate suspension of Pyongyang's ballistic missile program and imposed sanctions preventing it from buying and selling missile technology.

"We totally reject the resolution," Pak said immediately after the vote by the 15-member Security Council, adding that the North Korean army would continue missile launch exercises in the future as part of its efforts to bolster its military deterrent.

He also warned that North Korea would have no option but to "take stronger physical actions" should any other country "dare take issue" with the exercises.

Pak's remarks drew a wry response from the US Ambassador John Bolton.

"This has been a historic day," Bolton said. "Not only have we unanimously adopted resolution 1695, but North Korea has set a world record in rejecting it 45 minutes after his adoption."

In order to prevent a Chinese veto, the co-sponsors of the resolution, including the United States, were forced to drop a reference to Chapter Seven of the UN Charter, which could have opened the door to the use of military force in the event of North Korea's non-compliance.

Bolton rejected suggestions that the compromise had resulted in a weakened text, insisting that the resolution sent an "unequivocal, unambiguous and unanimous message" to Pyongyang.

While stressing the need for North Korea's unconditional and immediate compliance, Bolton warned Council members that they should be prepared for the communist nation "to choose a different path."

In the event of non-compliance, Bolton said it was important that the United States and others would have the opportunity at any point to return to the Council "for further action."

It took 11 days of intense negotiations to reach agreement on the resolution, with China and Russia insisting that an overly harsh text would only serve to box North Korea into a corner and further destabilise the region.

"We are against any acts that will lead to further tension on the Korean peninsula," said Chinese Ambassador Wang Guangya, adding that China hoped the resolution would help all concerned parties "to act calmly."

China, the main provider of aid to North Korea, had sent a high-level diplomatic mission to Pyongyang earlier this week, but it failed to secure any concessions that might have warded off the Security Council vote.

Pyongyang outraged the international community by test-launching seven missiles on July 5, including a long-range Taepodong-2 believed to be capable of striking US soil.

The communist state's previous long-range tested missile was the Taepodong-1 which flew over Japan into the Pacific Ocean in 1998.

The Security Council resolution was drafted by Japan which welcomed its unanimous adoption.

"Japan strongly urges North Korea to implement the measures based upon this resolution," Foreign Minister Taro Aso said in a statement released at the G* meeting in Saint Petersburg.

As well as demanding the cessation of North Korea's missile tests, the resolution requires all member states to prevent missile and missile related items, materials, goods and technology being transferred to Pyongyang's missile or weapons of mass destruction programs.

Bolton stressed that the United States expected all other nations to "immediately act in accordance" with those requirements.

The text also underlines the need for North Korea to show restraint and refrain from any action that might "aggravate tension" and urges its return to six-nation talks on abandoning its nuclear weapons program in exchange for economic and security incentives.

Pyongyang has shunned the talks since November and demanded direct discussions with Washington. Some analysts have suggested that the missile tests were intended to be used as a bargaining chip with the United States over the course of future negotiations.

The South Korean defense ministry's 2004 Defense White Paper said North Korea started developing its own ballistic missiles in the 1970s.

The impoverished and isolated state is believed to trade missiles and missile technology for hard currency or crude oil from the Middle East.

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