The missile flew over Hokkaido in the north and landed in the Pacific about 2,000 km (1,240 miles) to the east, Japanese Chief Cabinet Secretary Yoshihide Suga told reporters.
U.S. Secretary of Defense Jim Mattis said the launch “put millions of Japanese into duck and cover”, although residents of northern Japan appeared calm and went about their business as normal after the second such launch in less than a month.
The U.S. military said soon after the launch it had detected a single intermediate range ballistic missile but the missile did not pose a threat to North America or Guam, which lies 3,400 km (2,110 miles) from North Korea.
U.S. officials repeated Washington’s “ironclad” commitments to the defense of its allies. Secretary of State Rex Tillerson called for “new measures” against North Korea and said the “continued provocations only deepen North Korea’s diplomatic and economic isolation”.