The Japanese Defense Ministry says a ballistic missile that North Korea fired on Sunday night appears to have fallen into the Sea of Japan, outside Japan's exclusive economic zone.

Ministry officials say the missile was launched eastward from North Korea's west coast at around 10:37 p.m.

The missile is estimated to have traveled about 400 kilometers and reached a maximum altitude of roughly 50 kilometers.

The ministry and other sources say there are no reports of damage to Japanese vessels or aircraft.

It is the 20th time this year that Pyongyang has fired what could be a ballistic missile or an object using ballistic missile technology. It is the first launch since November 22.

A North Korean defense ministry spokesperson issued a statement through the country's state-run Korean Central News Agency after the missile launch.

The statement said Pyongyang strongly opposes an agreement that the US and South Korea reached on Friday. The two countries will draw up joint guidelines on nuclear strategy in a bid to deter the threat posed by North Korea's nuclear program.

The Japanese government has lodged a protest with North Korea. It says the country's actions violate UN Security Council resolutions and threaten the peace and security of Japan, the region and the international community.