Kim Jong-un watched the missiles being launched (Picture: KCNA).
The North Korean leader has reportedly said that the latest launch of tactical guided missiles was an "adequate warning" to the United States and South Korea over their joint military exercises.
The North Korean Central News Agency (KCNA) reported that Kim Jong-un supervised the tests on Tuesday.
The announcement came a day after South Korea's military said it detected North Korea firing two projectiles that were likely to be ballistic missiles into the sea.
The ministry's statement said the US-South Korean drills, which North Korea sees as an invasion rehearsal, leave the country "compelled to develop, test and deploy the powerful physical means essential for national defence".
KCNA said the launches early on Tuesday verified the reliability and combat ability of the newly-developed missiles.
The agency reported Mr Kim expressed satisfaction and said the launches would "send an adequate warning" to the joint US-South Korean military drill.
A spokesman for South Korea's Unification Ministry said North Korea's recent testing activity did not help efforts to stabilise peace
The South called for Pyongyang to uphold an inter-Korean agreement reached last year to form a joint military committee to discuss reducing military tensions.
Seoul's Joint Chiefs of Staff said the projectiles showed similar flight characteristics to short-range missiles North Korea fired in July and travelled about 373 miles during launches.
South Korea's military had said the flight data of the July missiles showed similarities to the Russian-made Iskander, a solid-fuel, nuclear-capable missile that is highly manoeuvrable and travels on lower trajectories compared with conventional ballistic weapons, improving its chances of evading missile defence systems.