South Korea says it has held joint air drills with the United States over the Korean Peninsula. The exercises come one day after North Korea launched what it says was an intercontinental ballistic missile, or ICBM.

Seoul's Joint Chiefs of Staff said the drills took place on Thursday with the participation of South Korean and US fighter jets as well as at least one US B-52 strategic bomber.

Released footage shows the bomber, which can carry nuclear weapons, flying in formation with six fighter planes.

Seoul's military said the bilateral alliance will continue to realize "peace through strength" based on their "overwhelming" capabilities.

Analysts say the two allies staged the drills to deter North Korea from conducting more provocations.

Pyongyang says it used solid-fuel technology for Wednesday's ICBM launch. It was the country's second test-firing of the missile known as a Hwasong-18. Solid fuel enables quicker launches compared to liquid fuel.