Senior diplomats from Japan, the United States and South Korea have reaffirmed that their countries will continue to cooperate closely in responding to the latest missile launches by North Korea.

The Japanese Foreign Ministry's Asian and Oceanian Affairs Bureau chief Funakoshi Takehiro, US special envoy for North Korea Sung Kim and South Korean special envoy for Korean Peninsula Peace and Security Affairs Kim Gunn spoke over the phone.

The talks took place after North Korea fired an intercontinental ballistic missile on Saturday and at least two ballistic missiles on Monday.

The officials shared the view that Pyongyang's missile launches, which they say are taking place at an unprecedented pace and method, are an imminent security threat to the region.

They also called the launches a clear and serious challenge to the international community.

They agreed to work together on bolstering regional deterrence and responses at the UN Security Council to realize North Korea's complete denuclearization in accordance with Security Council resolutions.