The Joint Chiefs of Staff (JCS) said it detected the launch from North Korea's Hwanghae Province at around 1:50 p.m., but did not provide further details.
The launch comes just hours after the renegade country vowed the "toughest anti-U.S. counteraction," threatening "undesirable consequences" as South Korea kicked off its annual joint defense exercise, dubbed "Freedom Shield" with the U.S., which runs until next week.
It was much anticipated, as North Korea has often resorted to provocations in response to the annual exercise.
The JCS said it heightened surveillance and readiness for potential further launches in cooperation with the U.S.
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