The Joint Chiefs of Staff said the allies launched the ground-to-ground Army Tactical Missile System (ATACMS) missile at targets in the East Sea, also known as the Sea of Japan, in the early morning.

The 10-minute volley comes a day after North Korea launched eight short-range ballistic missiles following a South Korea-US joint military exercise involving a US aircraft carrier.

"Our military strongly condemns the North's series of ballistic missile provocations and sternly urges it to immediately stop acts that raise military tensions on the peninsula," it added.

Pyongyang has doubled down on upgrading its weapons programme this year, despite facing crippling economic sanctions, with officials and analysts warning that the regime is preparing to carry out a fresh nuclear test.

Monday's launches mark the second such joint show of force by the allies under South Korea's hawkish new President Yoon Suk-yeol, who has vowed a tougher stance against Pyongyang's provocations.

Last month, Seoul and Washington carried out combined launches after Pyongyang fired three ballistic missiles -- including a suspected intercontinental ballistic missile -- in their first such joint move since 2017.