South Korea and the United States launched large-scale joint aerial drills on Monday, officials said, a week after North Korea said it had tested its most advanced missile as part of a weapons programme that has raised global tensions.

The annual US-South Korean drill, called Vigilant Ace, will run until Friday, with six F-22 Raptor stealth fighters to be deployed among the more than 230 aircraft taking part. The exercises have been condemned as a provocation by the isolated North.

F-35 fighters will also join the drill, which will also include the largest number of 5th generation fighters to take part, according to a South Korea-based US Air Force spokesman.

Around 12,000 US service members, including from the Marines and Navy, will join South Korean troops. Aircraft taking part will be flown from eight US and South Korean military installations.

South Korean media reports said B-1B Lancer bombers could join the exercise this week. The US Air Force spokesman could not confirm the reports.

The joint exercise is designed to enhance readiness and operational capability and to ensure peace and security on the Korean peninsula, the US military had said before the drills began.

The drills come a week after North Korea said it had tested its most advanced intercontinental ballistic missile ever in defiance of international sanctions and condemnation.

Pyongyang blamed US President Donald Trump for raising tensions and warned at the weekend the Vigilant Ace exercise was pushing tensions on the Korean peninsula towards “a flare-up”, according to North Korean state media.

North Korea’s Committee for the Peaceful Reunification of the Country called Trump “insane” on Sunday and said the drill would “push the already acute situation on the Korean peninsula to the brink of nuclear war”.

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

The North’s KCNA state news agency, citing a foreign ministry spokesman, also said on Saturday the Trump administration was “begging for nuclear war by staging an extremely dangerous nuclear gamble on the Korean peninsula”.

North Korea regularly uses its state media to threaten the United States and its allies.