Russia's defense ministry says two of its submarines have successfully test-fired cruise missiles in the Sea of Japan. The move apparently aims to check an ongoing Japan-US joint exercise in the Sea of Japan.

The ministry said Kalibr missiles launched from the two diesel-powered submarines of the country's Pacific Fleet, Petropavlovsk-Kamchatskiy and Volkhov, hit targets at sea on Thursday.

Russia has used Kalibr cruise missiles in its war against Ukraine.

The ministry said more than 15 vessels from the fleet took part in the drill.

The test launches were held while Japan's Maritime Self-Defense Force and the US Navy were conducting a joint exercise in the Sea of Japan. The USS Abraham Lincoln aircraft carrier strike group is taking part.

The Russian drill appears to be aimed at checking the Japan-US exercise.

Japan's Foreign Ministry conveyed its concern to the Russian Embassy in Tokyo on Thursday by telephone over the missile launches in the Sea of Japan.

Ministry officials said they told Russia to refrain from taking acts that would raise tensions in Northeast Asia, while the international community including Japan has been repeatedly and strongly criticizing Russia's invasion of Ukraine.