North Korea fired two short-range missiles early on Thursday from its eastern coast, in a sign of its growing impatience with the lack of progress in talks with Washington over its nuclear weapons programme.

The missiles were tested from the coastal city of Wonsan, reaching an altitude of 30 miles. The second, a longer-range missile which flew 428 miles out to sea, appeared to be a new design but a detailed analysis is still being carried out.

The launch was the first weapons test since Donald Trump, the US president took a historic few steps into North Korea at its heavily armed border with the South in Panmunjom late last month. It indicates that the unprecedented gesture did not win much capital with Pyongyang.

At the time, the two leaders agreed to resume talks to disarm Kim Jong-un’s nuclear and missiles programme, which Mike Pompeo, the US secretary of state, said would likely begin in mid-July when the two sides had agreed their negotiating teams.

However, tensions escalated again last week when North Korea threatened to call off its suspension of its 20-month nuclear and missile tests, and the talks remain deadlocked.