The Joint Chiefs of Staff (JCS) said it detected the missiles around 8:10 a.m., which were launched from an area south of Pyongyang.
They flew about 350 kilometers and likely landed in North Hamgyong Province, rather than in the East Sea as the JCS initially speculated.
Wednesday's launch, the North's first missile provocation since President Lee Jae Myung took office in June, came about five months after the reclusive country fired a couple of short-range ballistic and cruise missiles in May.
The launch also comes ahead of the Asia-Pacific Economic Cooperation (APEC) summit scheduled to be held in Gyeongju next week.
Shortly after the North's fresh missile provocation, an emergency meeting was convened with diplomatic and security officials here to discuss measures.
In a statement issued after the meeting, officials said, "The government is closely monitoring the situation to implement necessary measures while maintaining military readiness to respond to any further provocations."
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