South Korea's military said the Scud-type missile travelled for 280 miles (450 kilometers), and Japan said it was estimated to have fallen into its exclusive economic zone, extending 200 nautical miles from the coast.
"Both sides shared a point of view on the inadmissibility of continuing provocative actions of North Korea and agreed, on the basis of the results of G7 summit and the US-Japanese bilateral meeting on the sidelines, to continue close cooperation, including through the United Nations platforms", the ministry said.
Because of the increase in ballistic missile launches by North Korea, the U.S., Japan and South Korea have, in the past few weeks called urgent Security Council meetings twice, and the U.S. and China have been working on a new Resolution with tougher sanctions, CBS News' Pamela Falk reported Sunday.
The government of South Korean President Moon Jae-in, who took office in early May and who has advocated dialogue with the North, condemned Monday's launch.
North Korea on May 29 test-fired a ballistic missile, the latest in a series of launches that have ratcheted up tensions over its quest to develop weapons capable of hitting the United States. The North has a strong arsenal of short- and medium-range missiles that target Japan and South Korea and USA forces in the region, and it is working to ideal its longer-range missiles.
North Korea's state-controlled media had no immediate comment.
Japanese Prime Minister Shinzo Abe, who had just returned from a G7 meeting in Italy, told reporters: "North Korea's provocation by ignoring repeated warning from the global society is absolutely unacceptable".
North Korea, which has conducted dozens of missile tests and tested two nuclear bombs since the beginning of 2016 in defiance of U.N. Security Council resolutions, says the program is necessary to counter USA aggression.
"And in the event of war, they would bring danger to China and to Russian Federation as well", he said.
Kim Jong-Un has sought to ramp up North Korea's nuclear programme under his rule, saying the regime needs atomic weapons to defend itself against the threat of invasion.
"As we agreed at the recent G7, the issue of North Korea is a top priority for the worldwide community", Prime Minister Abe told reporters in a televised comment, as cited by Reuters.
Japan says it will join forces with the U.S. to apply sanctions against defiant North Korea over its continued missile tests to deter it from launching more projectiles.
"There are many possibilities ..."
The Pentagon announced on Friday that they will try to shoot down an intercontinental-range missile for the first time.
South Korean authorities were questioning on Monday six North Koreans rescued on the weekend as they drifted in the sea off the east coast and will send them home if they want to go, the South's Unification Ministry said.
However, Japan could do some things that might hurt North Korea economically, he said, such as stopping and searching North Korean merchant and fishing vessels in Japanese waters.