North Korea 2 times introduced "unknown projectiles" Tuesday morning in an easterly route.
The projectiles were fired from the Gaecheon area of South Pyongan Province toward the sea off North Korea's east coast, according to a statement by South Korea's Joint Chiefs of Staff.
The test came just hours after the North offered to resume nuclear talks with the United States.
North Korea has now launched weapons on eight occasions since July 25, as negotiations with the United States have stalled over the scope of the reclusive country's denuclearization, and the amount of sanctions relief to be granted in return.
Soon after the news, South Korea's National Security Council convened an emergency meeting led by the nation's security chief, Chung Eui-yong.
They are believed to have flown up to 330 kilometers (205 miles). "We are continuing to keep track of the scenario and consulting closely with our allies in the location".
"We have willingness to sit with the USA side for extensive discussions of the problems we have so significantly taken up at the time and position to be agreed late in September", Choe Son Hui, the North's vice foreign minister, mentioned in a statement carried on Monday by the formal Korean Central Information Agency.
Trump and Kim had agreed to restart working-level talks during a meeting at the Demilitarized Zone dividing the Korean peninsula in June, but those talks have yet to begin.More news: House panel probes fortunes of airport near Trump resort in Scotland
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The comments came a day after Secretary of State Mike Pompeo expressed hope that talks with the North Koreans would resume "in the coming days, or perhaps weeks".
North Korea offered Monday to restart stalled nuclear negotiations with the US later this month but warned "dealings may come to an end" if the Americans don't bring something new to the table. I constantly say having conferences is a great issue.
"If the USA side toys with an old scenario that has nothing to do with the new method at working-level talks which would be held after difficulties, a deal between the two sides may come to an end".
Trump said that Kim had only agreed to stop testing long-range ballistic missiles - the type that can reach the USA mainland - and nuclear weapons.
The period suggested by North Korea would correspond with the United Nations Standard Assembly in NY.
Kim and US President Donald Trump adopted a vaguely-worded statement on the "complete denuclearization of the Korean peninsula" at their first summit in Singapore in June past year, but little progress has since been made on dismantling Pyongyang's nuclear program.
US President Donald Trump has played down the tests when speaking about North Korea publicly.
Pyongyang's hottest feedback on talks appear after the USA distinctive envoy to North Korea, Stephen Biegun, said the North have to quit blocking nuclear talks.