Russian Foreign Minister Sergey Lavrov has said North Korea is open to direct talks with the US and passed that message on to US Secretary of State Rex Tillerson.

Russian news agencies reported that while speaking at a summit in Vienna, Austria Mr Lavrov noted the talks would likely be contingent on “security guarantees.”

“We know that North Korea wants above all to talk to the United States about guarantees for its security. We are ready to support that, we are ready to take part in facilitating such negotiations,” Mr Lavrov said.

“Our American colleagues, (including) Rex Tillerson, have heard this.”

Experts have said repeatedly that Pyongyang may be basing its need for security guarantees on recent US treatment of Iran.

In October, US President Donald Trump announced he would not re-certify a nuclear deal signed by Iran and six world powers - a signature foreign policy achievement by predecessor President Barack Obama.

Despite the evidence provided by the United Nations on Tehran's compliance with the deal, Mr Trump said it was too lenient on Iran and that they had violated portions of it.

Donald Trump says 'we will take care of it' after North Korea fires missile

It opened the door for harsher economic sanctions to be placed on the country, the mitigation of which was a key inducement for Iran to comply with the historic deal.

The meeting between Mr Lavrov and Mr Tillerson took place the same day the United Nations made its first official visit to North Korea in six years.

Tensions have continued to rise between Pyongyang and Washington.

Late last month, North Korea launched an intercontinental ballistic missile (ICBM) - the Hwasong-15 which is reportedly capable of reaching the east coast of the US.

North Korea announces intercontinental missile launch Show all 13 1 /13 North Korea announces intercontinental missile launch North Korea announces intercontinental missile launch Pyongyang residents react after the news of the successful launch of the new intercontinental ballistic missile AFP/Getty Images North Korea announces intercontinental missile launch North Korea's leader Kim Jong Un signing an order to test-fire the newly developed inter-continental ballistic missile KRT via AP Video North Korea announces intercontinental missile launch A news broadcast displays Kim Jong Un's signed document AP North Korea announces intercontinental missile launch People cheer as they watch the news broadcast announcing Kim Jong Un's order to test-fire the new inter-continental ballistic missile AFP/Getty Images North Korea announces intercontinental missile launch Residents react after the document signing AP North Korea announces intercontinental missile launch Pyongyang residents celebrate Kim Jong Un's announcement AFP/Getty North Korea announces intercontinental missile launch Cheering Pyongyang residents react AP North Korea announces intercontinental missile launch To counter North Korea's missile test, South Korea fired missiles into the East Sea The Defence Ministry/Yonhap via REUTERS North Korea announces intercontinental missile launch The Hyunmu-2 missiles firing during the drill South Korean Defense Ministry vi North Korea announces intercontinental missile launch The exercise was carried out in an attempt to counter Kim Jong Un's order South Korea Defense Ministry via AP North Korea announces intercontinental missile launch The South Korean army continue to carry out military exercises AP North Korea announces intercontinental missile launch Where K-9 self-propelled howitzers were taking part in a drill Rex Features North Korea announces intercontinental missile launch US soldiers are also present in the border city of Paju AFP/Getty Images

It was the first test the hermit kingdom had conducted in two months, its 20th overall, and its seventh actual launch of a weapon.

It also reportedly went approximately 2,800 miles (4,000 km) up into the atmosphere before landing in the Sea of Japan, according to South Korean and Japanese authorities. US Defence Secretary James Mattis said the latest missile did fly higher than previous ones.

The launch came just one week after the US declared North Korea a state sponsor of terrorism, imposing new economic sanctions on the country.

North Korea was last on the state-sponsored terror list in 2008, under the George W Bush administration. It was removed that year in a bid to salvage a deal halting its nuclear development.

Mr Tillerson said that attempt at negotiations "obviously failed."