The rockets were fired from multiple launchers in the North Korean port city of Wonsan and travelled 220km before landing in waters east of the Korean Peninsula, a ministry official said.
The last rocket was fired 35 minutes before Pope Francis was due to arrive at an air base near Seoul, where the pontiff started a five-day visit to South Korea.
The launches came ahead of US-South Korean military exercises scheduled to start on Aug. 18. Seoul and Washington say the exercises are defensive in nature but North Korea regularly protests against the drills, which it sees as a rehearsal for war.
By Ruchi Singh
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