According to the South Korean military, North Korea launched three short-range ballistic missiles into the sea to the east of the Korean peninsula.

This latest salvo comes just five days after North Korea entered South Korean airspace for the first time since 2017.

This year, North Korea has launched more missiles than ever before.

The latest missile launches, according to Washington, do not pose an immediate threat to the United States or its allies.

The three short-range ballistic missiles were launched from North Hwanghae Province, south of Pyongyang, at around 08:00 local time (23:00 GMT), according to South Korea's Joint Chiefs of Staff.

"North Korea's launch of ballistic missile(s) is a grave provocation that threatens peace and stability on the Korean Peninsula as well as the international community," they added.

According to the South Korean military, the missiles flew approximately 350 kilometers (217 miles).

Japan's coastguard earlier said one missile had fallen into the sea.

South Korea's military this week apologised for failing to shoot down five drones that North Korea flew across their mutual border.

Seoul fired warning shots and sent jets and attack helicopters to shoot down the aircraft, one of which flew close to the capital.

Earlier this month, the US and its Asian allies imposed sanctions on three senior North Korean officials associated with the country's recent missile tests.

Relations between North and South Korea have deteriorated since South Korean President Yoon Suk-yeol's conservative government took office in May, promising a tougher stance towards Pyongyang.

North Korea has become more assertive under Kim Jong-un, who has overseen much of the country's recent weapons development.

He recently stated that he wants his country to have the most powerful nuclear force in the world and declared it to be in an "irreversible" nuclear state.