The missile travelled 4,500km (2,800 miles) before falling into the Pacific Ocean - far enough to hit the US island of Guam if it took another trajectory.
It is the North's first missile launch over Japan since 2017. Japan issued an alert to some citizens to take cover.
The US, Japan and South Korea conducted their own military drills in response.
South Korean and US aircraft fired at a mock target on an uninhabited island in the Yellow Sea, while the US and Japan also jointly carried out drills over the Sea of Japan.
The UN prohibits North Korea from testing ballistic and nuclear weapons. Flying missiles towards or over other countries without any warning or consultation also contravenes international norms.
Most countries avoid doing it completely as it can easily be mistaken for an attack. While it is not as big as a nuclear test - which could be next - it can be considered hugely provocative.
As the missile flew overhead, they were warned to look out for falling debris. Many remained calm, though, with one video showing Tokyo commuters walking normally as loudspeakers blared out warnings.
Source: www.bbc.com
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