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South Korea's military said Kim's regime fired the "unidentified projectile" from Pyongyang towards the sea at 5:57am local time. The Japanese government's J-Alert warning system advised people in the area to take precautions. Warnings were issued across Hokkaido, Aomori, Iwate, Miyagi, Akita, Yamagata, Fukushima, Ibaraki, Tochigi, Gunma, Niigata and Nagano.

But public broadcaster NHK said there was no sign of damage and the Japanese military did not attempt to shoot down the missile. It passed over Japanese territory at around 6:06am local time before breaking into three pieces, officials in Tokyo said. The missile is reported to have fallen into waters 1,180km east of Cape Erimo on the island of Hokkaido. United States officials said the missile was "likely an intermediate-range ballistic missile", according to initial data.

GETTY•REUTERS•EPA North Korea's military fired another missile into the Sea of Japan

Is Kim Jong-un developing more advanced ballistic missiles? Wed, August 23, 2017 North Korean leader Kim Jong-Un looks on during a visit to the Chemical Material Institute of the Academy of Defense Science Play slideshow REUTERS 1 of 8 North Korean leader Kim Jong-Un gives field guidance during a visit to the Chemical Material Institute of the Academy of Defense Science in this undated photo released by North Korea's Korean Central News Agency (KCNA) in Pyongyang

In a warning to Kim Jong-un, US president Donald Trump said the world had received North Korea's latest message "loud and clear". He said: "This regime has signalled its contempt for its neighbours, for all members of the United Nations, and for minimum standards of acceptable international behaviour. "Threatening and destabilising actions only increase the North Korean regime's isolation in the region and among all nations of the world. All options are on the table." And a White House spokesman said North Korea "poses a grave and growing direct threat to the United States, Japan, and the Republic of Korea".

NC Japan's public broadcaster NHK said there was no sign of damage

We will make utmost efforts to firmly protect the lives of the people Shinzo Abe

Japan's Prime Minister Shinzo Abe said he would do all in his power to protect the Japanese public after the missile test. As he entered his office for an emergency meeting, Mr Abe told reporters: "We will make utmost efforts to firmly protect the lives of the people." And Japan's chief Cabinet Secretary Yoshihide Suga said the launch was a threat that Tokyo would respond to firmly. He said: "This ballistic missile launch appeared to fly over our territory. It is an unprecedented, serious and grave threat to our nation." The Japanese military did not attempt to shoot down the missile which may have broken into three pieces, said Minister of Defence Itsunori Onodera.

GETTY The missile passed over Japanese territory at 6:06am local time

People across Japan were sent terrifying text message warnings which alerted them to the missile launch. Terrified resident Hiroyuki Iwafune said: "I was worried. Everyone felt the same. But what can you do? Hide? But where? We called those who were at sea. "But then they said, 'Even with this, what are we supposed to do?'" Office worker Ayaka Nishijima added: "I was woken by the missile alert on my cellphone. I didn't feel prepared at all. "Even if we get these alerts there's nowhere to run. It's not like we have a basement or bomb shelter, all we can do is get away from the window."

GETTY The latest threat against Japan is likely to anger Donald Trump

Even in Tokyo, more than 400 miles from the missile path, warnings were issued. Warnings also played out at subway stations, where some people took shelter. One train operator told explained a delay with the message: "All lines are experiencing disruption. Reason: ballistic missile launch." Rail customers were told: "Currently, a North Korean missile is flying above Japan. It is very dangerous. Please take cover at the waiting areas or inside the trains."

REUTERS The Japanese military did not attempt to shoot down the missile

Today North Korea showed little sign of ending its policy of aggression. The country's UN ambassador today declared: "My country has every reason to respond with tough counter-measures as an exercise of its right to self-defence. "The US should be fully responsible for the catastrophic consequences it will entail." He said it was America, not North Korea, who was risking an "extreme level of explosion".

REUTERS Japan's chief Cabinet Secretary called the launch a 'grave threat'

South Korea's foreign ministry said: "We will respond strongly based on our steadfast alliance with the United States if North Korea continues nuclear and missile provocations." The United States and South Korea are technically still at war with the North because their 1950-53 conflict ended in a truce, not a peace treaty. The North says it will never give up its weapons programmes, saying they are necessary to counter hostility from the US and its allies.

REUTERS North Korea is showing little sign of ending its policy of aggression

A spokeswoman for Theresa May said the Prime Minister was "outraged" by Kim's latest "reckless provocation". The spokeswoman said: "The Prime Minister is outraged by North Korea's reckless provocation and she strongly condemns these illegal tests. "From our perspective we will need to continue to work with our international partners to keep the pressure on North Korea." Mrs May later added: “The action by North Korea is reckless provocation. These are illegal tests and we strongly condemn them. "We will be having an emergency meeting of the UN security council later this afternoon and we will continue to work with our international partners to put pressure on North Korea to stop these illegal tests."

GETTY Theresa May's spokeswoman said the PM was 'outraged' by the test

In pictures: North Korea holds mass rally to protest U.N. sanctions Thu, August 10, 2017 Tens of thousands of North Koreans were pictured on the streets on the same day tensions between the pariah state and the United States escalated following President Donald Trump's threats of "fire and fury." Play slideshow 1 of 9

Even historic North Korean allies Russia condemned Kim Jong-un, while China said the situation on the peninsula was now at "match point". Russia's deputy foreign minister Sergei Ryabkov said the country was "extremely worried" about the launch and the "tendency towards an escalation". Mr Rybakov said: "We see a tendency towards an escalation and we are extremely concerned by the general developments." Russian officials have been ordered to move 1,500 residents in Vladivostok, which borders North Korea, to "safe areas", according to reports.

REUTERS Even North Korean allies Russia condemned despot Kim Jong-un