South Korea's military says North Korea launched two short-range ballistic missiles on Tuesday morning. This comes one day after US and South Korean forces began joint military drills.

South Korea's Joint Chiefs of Staff say Pyongyang fired the missiles between 7:41 and 7:51 a.m. on Tuesday from South Hwanghae Province toward the sea off its east coast. They, together with the US military, are analyzing the details of the launches.

A senior Japanese government official said it did not receive any information that suggests the missiles fell inside Japan's exclusive economic zone.

Since the start of the year, North Korea has repeatedly fired missiles. On Monday, Pyongyang said it test-fired two cruise missiles from a submarine the day before.

The US and South Korean militaries are due to continue the Freedom Shield exercises until March 23.

North Korea has strongly objected to the drills.

Pyongyang said on Sunday the ruling Workers' Party's Central Military Commission had adopted steps to make more effective, powerful and offensive use of its war deterrent.