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North Korea has fired a missile over northern Japan in a move Japanese Prime Minister Shinzo Abe called an "unprecedented" threat to his country.
The missile, launched early on Tuesday Korean time, flew over Hokkaido island before crashing into the sea.
The UN Security Council is to hold an emergency meeting later in response.
North Korea has conducted a flurry of missile tests recently, but this is the first time it has fired what is thought to be a ballistic weapon over Japan.
On the two previous occasions its rockets crossed Japan - in 1998 and 2009 - North Korea said they were for satellite launch vehicles, not weapons.
The BBC's Rupert Wingfield-Hayes in Tokyo says this latest launch appears to be the first of a missile powerful enough to potentially carry a nuclear warhead.
North Korea's ambassador to the UN, Han Tae-Song, defended his country's actions and said they were a response to military drills carried out by the US and its allies in the region.
"Now that the US has openly declared its hostile intention towards DPR Korea [North Korea] by raising joint aggressive military exercises despite repeated warnings... my country has every reason to respond with tough counter-measures as an exercise of its rights to self-defence," he told the Conference on Disarmament in the Swiss city of Geneva.
The US ambassador to the conference, Robert Wood, said: "It's another provocation by North Korea, they just seem to continue to happen.
"This is a big concern, of course, to my government and to a number of other governments."
The South Korean military said the missile was fired eastward just before 06:00 local time (21:00 GMT) from near the North's capital, Pyongyang - which is rare.
Early analysis of the launch suggests the missile:
No effort was made by Japan to shoot down the missile but it issued a safety warning telling citizens in Hokkaido to take shelter in "a sturdy building or basement".
US and Japanese forces have just finished a joint drill in Hokkaido while another annual exercise involving tens of thousands of South Korean and US military personnel is still under way in South Korea.
The North sees these regular military drills involving the US as highly provocative, perceiving them as a rehearsal for an invasion.
Mr Abe said he had spoken to US President Donald Trump and that they had agreed to increase pressure on North Korea. The Pentagon meanwhile said the launch did not represent a threat to the US itself but that the military was working to gather more intelligence about it.
China warned that tensions on the Korean peninsula had reached a "tipping point" but said the US and South Korea were partly to blame. Foreign ministry spokeswoman Hua Chunying criticised the two countries for their repeated military drills putting pressure on the North.
"After so many rounds and vicious cycles, do they feel they are nearer to peaceful settlement of the issue?" he said, adding that pressure and sanctions would not solve the problem.
Russian Foreign Minister Sergei Lavrov said North Korea "must respect resolutions from the United Nations".
