The United States, South Korea and Japan held a joint naval missile defence exercise today to counter North Korea's evolving nuclear and missile threats.

North Korea launched an intercontinental ballistic missile (ICBM) on Wednesday, said South Korea's navy.

North Korea fired its latest Hwasong-18 missile, which it describes as the core of its nuclear strike force, off the east coast.

The Navy further said that today's trilateral drill was conducted in international waters between South Korea and Japan, bringing together destroyers equipped with Aegis radar systems from the three countries.

The North's ICBM launch was condemned by the U.S., South Korea and Japan, though Pyongyang rejected the condemnation, saying it was an exercise of its right to self-defence.