North Korea has fired two medium-range ballistic missiles towards the Japan Sea.
It is the country’s first launch in four years of the Rodong missiles that are capable of hitting Japan, and follows a series of short-range missiles fired over the last two months.
The missiles were launched at the same time Japanese Prime Minister Shuinzo Abe and South Korean President Park Geun-hye were sitting down with the US president in The Netherlands.
They have discussed the need to work together on containing the nuclear threat posed by North Korea.
The three leaders met on the sidelines of a nuclear summit in The Hague.
After their meeting, Obama said the three countries had presented a united front against the threat post by North Korea’s arms programmes.
The North Korean missile launch coincided with annual South Korean-US military drills and a memorial marking the fourth anniversary of the sinking of a South Korean navy ship, the Cheonan.
Seoul blames North Korea for that attack, but Pyonyang has always denied any role.
Japan and North Korea are set to resume high-level talks in Beijing at the end of this month.