Both Japanese and South Korean officials confirmed the long-range missile's launch on Thursday morning.
It flew about 1,000km (620 miles) landing in waters west of Japan.
It is Pyongyang's fourth missile launch in a week and comes as the US and South Korea hold joint navy drills.
The other missiles launched - last Thursday, on Saturday and on Monday - had been short-range ballistic missiles.
North Korea's ramped-up missile activity will most likely be top of the agenda when South Korean President Yoon Suk Yeol meets Japan's Prime Minister Fumio Kishida in Tokyo later on Thursday - the first such visit in 12 years.
North Korea last fired an ICBM less than a month ago - an action that sparked a UN emergency meeting and condemnation from G7 countries.
Source: www.bbc.com
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