North Korea has fired a submarine-launched ballistic missile into the sea off the east coast of the peninsula, according to South Korea and Japan.
If confirmed, it would be the latest in a series of missile tests by Pyongyang.
It comes just days before the inauguration of South Korea's new president, Yoon Suk-yeol, who has vowed to take a firmer line with the North.
The Japanese defence minister called the launch an unacceptable threat to the international community.
The minister, Nobuo Kishi, also told reporters that Japan would continue to "strengthen defence capabilities drastically".
On Friday, the US State Department warned that North Korea could be preparing to conduct a nuclear weapons test, its first in five years.
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