The nuclear-armed North had test-fired what it said was its most advanced and powerful solid-fuel intercontinental ballistic missile (ICBM) as well as a number of short-range ballistic missiles in separate drills over the last two weeks.

South Korea's military command said its live-fire exercise was aimed at demonstrating its "strong resolve to firmly respond to any North Korean provocation".

It also underlined its "capability and readiness for precision strikes against the enemy's origin of provocation," the Joint Chiefs of Staff added.

A Hyunmoo surface-to-surface short-range missile was sent into the West Sea in the exercise, the military command said.

South Korea started domestic production of short-range ballistic missiles in the 1970s to counter the threats posed by North Korea.

Hyunmoo are a series of missiles which are key to the country's so-called 'Kill Chain' preemptive strike system, which allows Seoul to launch a preemptive attack if there are signs of imminent North Korean attack.

In early October, the country displayed for the first time its largest ballistic missile, the Hyunmoo-5, which is capable of destroying underground bunkers.

Last Sunday, South Korea, Japan and the United States conducted a joint air drill involving a US B-1B bomber, South Korean F-15K and KF-16 fighter jets, and Japanese F-2 jets, in response to the North's ICBM launch.

Such joint drills infuriate Pyongyang, which views them as rehearsals for invasion.

Kim Yo Jong, sister of the country's leader and a key spokesperson, called the US-South Korea-Japan exercises an "action-based explanation of the most hostile and dangerous aggressive nature of the enemy toward our Republic".

The drill was an "absolute proof of the validity and urgency of the line of building up the nuclear forces we have opted for and put into practice," she added.