As a warning against the deployment of US strategic bombers to the region, state media reported the tests.

In the early hours of the morning, South Korean media reported that missiles were fired off the east coast of the country.

The launches coincide with Washington’s and Seoul’s annual military drills, which always provoke the North.

Pyongyang has long denounced the combined drills as war rehearsals by the US.

According to North Korea’s army, the missiles were fired late on Wednesday in a “tactical nuclear strike drill simulating scorched earth attacks on major command centers and operational airfields”.

Army officials said the drill is intended to send a clear message to the enemies who “challenge us with such military threats as the deployment of strategic nuclear assets despite repeated warnings.” According to Prime Minister Fumio Kishida, the launches threatened not only Japan’s stability and peace, but also international peace.

This year, North Korea has conducted a record number of weapons tests. South Korea and the US are finishing 11 days of Ulchi Freedom Shield military drills on Monday.

According to South Korean media, at least one US B-1B strategic bomber flew above the Korean Peninsula during the defence exercises.

According to state media, Kim Jong Un observed a drill on Tuesday preparing his top commanders for an all-out war with the South.

According to the report, the drill simulates repelling an invasion, then launching a counterattack to occupy “the entire southern half”.

Kim Jong Un has repeatedly promised to increase his country’s nuclear weapons production despite UN sanctions.

After launching a record number of missiles in 2022 – including ones capable of reaching the US – Pyongyang has continued to test its missiles this year.

Two space satellites have also been launched, unsuccessfully, in recent months. According to the US, Shoigu used the trip to try and convince North Korea to sell him weapons and ammunition.

John Kirby, the spokesman for the US National Security Council, told reporters on Wednesday that high level discussions may continue following these negotiations.

As part of these potential deals, Russia would receive significant quantities and multiple types of munitions from [North Korea], which the Russian military intends to use in Ukraine.

In response to Russia’s invasion of Ukraine, Pyongyang has repeatedly denied shipping weapons to Russia.