North Korea fires intercontinental ballistic missile towards Japan after threatening US

North Korea has fired an intercontinental ballistic missile towards Japan after threatening the United States.

Japanese officials confirmed that the missile landed near its waters, a day after Pyongyang warned the US over what it said were illegal spy plane flights.

The missile flew for more than 70 minutes, Japan's defense ministry said, making it the longest-ever North Korean ballistic missile test flight.

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Earlier this year, the United States and South Korean forces conducted major live fire drills, just 25km from the Demilitarised Military Zone (DMZ) which divides South and North Korea.