North Korea on Tuesday fired a ballistic missile over Japan for the first time in five years, sparking a prompt condemnation from US, Japan and South Korea.

US Secretary of State Antony Blinken held phone calls with his South Korean and Japanese counterparts during which they "strongly condemned" the test terming it "dangerous and reckless" decision.

Japan Defence Minister Yasukazu Hamada does not rule out any options, including counterattack capabilities, as it looks to strengthen its defences in the face of repeated missile launches from North Korea.

South Korea also said it would boost its military and increase allied cooperation.