The launches came a day after the end of joint military exercises between the United States and South Korea.

The missiles were fired from the North's west coast and flew for about 150 kilometers (93 miles), according to the South Korean military. The missiles did not pose a threat to South Korea or its allies, the military said.

The launches were the latest in a series of missile tests by North Korea in recent months. The North has been rapidly developing its missile capabilities in defiance of international sanctions.

The United States and South Korea condemned the launches and called on North Korea to stop its provocations. The US said it would continue to work with its allies to defend against the North's threats.

It is unclear why North Korea fired the missiles. However, the launches could be seen as a way for the North to flex its military muscle and to pressure the United States and South Korea to make concessions.

The launches also come at a time of heightened tensions on the Korean peninsula. North Korea has been threatening to resume nuclear testing, and the United States and South Korea have been conducting joint military exercises.

Tensions have been mounting in the region, with North Korean leader Kim Jong Un recently condemning Japan, the United States, and South Korea for strengthening their defense cooperation during a visit to a naval command.

During his visit, Kim vowed to equip his navy with tactical nuclear weapons. (ILKHA)