The single launch of a land-based, intermediate range ballistic missile occurred near the Panghyon Airfield, the US Pacific Command said.
"The President has been briefed on the latest report of a North Korean ballistic missile launch," according to the White House.
Reacting to the development on Twitter, Trump said, "North Korea has just launched another missile. Does this guy (Kim) have anything better to do with his life?"
The US has been urging China -- North Korea's closest diplomatic ally -- to pressure the Pyongyang regime to end its nuclear and ballistic missile programmes.
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According to United States Pacific Command (USPACOM), the missile was tracked for 37 minutes and landed in the Sea of Japan.
"We are working with our interagency partners on a more detailed assessment. We continue to monitor North Korea's actions closely," the PACOM said.