North Korea fired two short-range projectiles on Tuesday, only hours after announcing its willingness to restart nuclear talks with the US.
The launches were detected by the South Korean military.
It came hours after North Korea's Vice Foreign Minister Choe Son Hui said they were willing to resume "comprehensive" discussions at an agreed time and place around late September.
In the statement, she warned that the US needed to present a new approach or the talks could fall apart again.
Talks between US President Donald Trump and North Korean leader Kim Jong Un had hit a roadblock since an unsuccessful second summit between the two leaders in Vietnam in February.
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