Japan condemned the launches.
'It is a serious act of provocation against the security of neighbouring countries, including our country,' Chief Cabinet Secretary Takeo Kawamura said.
He warned Tokyo would 'promptly take appropriate measures' to implement the resolution.
Baek Seung-Joo of the Korea Institute for Defence Analyses said the North test-fires missiles three to four times each year to improve technology and maintain missile exports.
'Today's launches were part of a usual military drill but by firing 500km-range Scuds, the North was clearly displaying its ability to strike back against any international sanctions involving military means,' he told AFP. He said, however, that there is no sign of the North preparing to fire another long-range missile in the near future.
The North has made a series of bellicose moves this year. A long-range rocket launch on April 5 was followed by a nuclear test ? the second since 2006 ? on May 25.
In the days after its atomic test, Pyongyang fired a total of six short-range missiles, renounced the truce in force on the Korean peninsula for half a century and threatened possible attacks on Seoul. When the United Nations in June tightened sanctions on its missile and atomic activities, the North vowed to build more nuclear bombs.
US and South Korean officials believe ailing leader Kim Jong-Il, 67, is staging a show of strength to bolster his authority as he tries to put in place a succession plan involving his youngest son, Kim Jong-Un.
North Korea test-fired a long-range Taepodong-2 missile, along with several short- and mid-range missiles, on US Independence Day in 2006. Its latest nuclear test coincided with the US Memorial Day holiday. -- AFP