REPUBLIKA.CO.ID, TOKYO/SEOUL -- North Korea fired a missile that flew over Japan and landed in waters off the northern region of Hokkaido early on Tuesday, South Korean and Japanese officials said, marking a sharp escalation of tensions on the Korean peninsula.

The test, which experts said appeared to have been a recently developed intermediate-range Hwasong-12 missile, came as U.S. and South Korean forces conduct annual military drills on the peninsula.

Earlier this month, North Korea threatened to fire four Hwasong-12 missiles into the sea near the U.S. Pacific territory of Guam after U.S. President Donald Trump warned Pyongyang would face "fire and fury" if it threatened the United States.

North Korea has conducted dozens of ballistic missile tests under young leader Kim Jong Un, the most recent on Saturday, but firing projectiles over mainland Japan is rare.

"North Korea's reckless action is an unprecedented, serious and a grave threat to our nation," Japanese Prime Minister Shinzo Abe told reporters.

Also read: North Korea's ballistic missile flies some 2,700 km: S. Korean military

Abe said he spoke to Trump on Tuesday and they agreed to increase pressure on North Korea. Trump also said the United States was "100 percent with Japan", Abe told reporters.

The United States, Japan and South Korea asked for a United Nations Security Council meeting to discuss the test, diplomats said. A meeting of the 15-member Security Council would be held later on Tuesday, they said.

Earlier this month, the Security Council unanimously imposed new sanctions on North Korea in response to two long-range missile launches in July.

South Korea's military said the missile was launched from near the North Korean capital, Pyongyang, just before 6 a.m. (2100 GMT Monday) and flew 2,700 km (1,680 miles), reaching an altitude of about 550 km (340 miles).

"We will respond strongly based on our steadfast alliance with the United States if North Korea continues nuclear and missile provocations," the South's foreign ministry said in a statement.

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