South Korea has unveiled a video of ballistic missile launches just hours after Kim Jong-un fired a rocket over Japan.

The country's defence ministry released the footage today, after North Korea's missile landed in the Pacific waters off the coast of Hokkaido, the northernmost of Japan's main islands.

In the clip, believed to be filmed last Thursday, on August 24, three missiles with ranges from 500km to 800km were seen being launched and hitting targets on the ground and at sea.

The ballistic missiles, developed by South Korea's Agency for Defence Development (ADD), showcase the strategic military strength of the country's Kill Chain pre-emptive strike system and capable of striking North Korea's missile bases or any other places in the North, the agency said.

North Korea has conducted dozens of ballistic missile tests under young leader Kim Jong-un, the most recent on Saturday, August 26, but firing projectiles over mainland Japan is rare.

Three missiles were being launched at targets both at sea and on land
One missile hits its target
The video shows missiles with ranges up to 800km

In response to the missiles, South Korean fighter jets conducted bombing drills at a military firing range today.

The drill came after South Korean President Moon Jae-in asked the military to demonstrate capabilities to counter North Korea.

Footage from the defence ministry showed four F-15K dropping eight bombs, as well as targets on a mountainside exploding.

Pyongyang's latest missile launch, one of the most provocative ever from the reclusive state, appeared to have been of a recently developed intermediate-range Hwasong-12 missile, experts said.

The video came hours after Kim Jong-un fired a rocket over Japan
Cameras were attached to the missiles as they were launched
South Korea showed a video of one of their missiles landing in the sea

It came as US and South Korean forces conduct annual military drills on the peninsula, to which North Korea strenuously objects.

Last night, sirens sounded out across Japan alerting residents that Kim Jong-un had launched a ballistic missile towards their country.

Japan said the missile was "an unprecedented, grave threat" to the nation and called for an emergency meeting of the UN Security Council to discuss how to respond.

Sirens could be heard all across the country, as several people shared footage of empty streets and deserted schools.

The South Korean missiles were launched from floating vessels at sea
Schools and office buildings were empty
Japan was deserted after sirens warned of a missile launch

The missile passed over northern Japan early on Tuesday and broke into three pieces before crashing off the east of Cape Ermino on Hokkaido, the government said.

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The projectile was fired from an airport in the North Korean capital Pyongyang.

Japan's J-Alert warning system was activated, sending a text message alert advising Hokkaido residents to take precautions, while loudspeakers urged people to take shelter underground.