The Japanese government says it has submitted a complaint after North Korea launched at least one ballistic missile Monday afternoon. There are no reports of damage so far.

Japanese Chief Cabinet Secretary Hayashi Yoshimasa says: "North Korea's actions threaten the peace and security of not only Japan and the region but also others in the international community. Ballistic missile launches violate UN Security Council resolutions and are a serious issue that affects people's safety. We lodged a strong protest and strongly condemned Pyongyang."

The defense ministry says the launch happened about 3 p.m. The missile flew northeast and is suspected to have fallen outside Japan's Exclusive Economic Zone in the Sea of Japan.

The ministry says the missile flew more than 250 kilometers with a maximum altitude of about 50 kilometers.

South Korea's military says the North fired what appeared to be multiple short-range ballistic missiles from near Pyongyang toward the Sea of Japan.

This is the fourth time the North has launched one or more ballistic missiles this year, and the first since April 2.