North Korea launched several ballistic missiles toward the Yellow Sea on Monday afternoon, Seoul's military said, on the first day of a large-scale joint U.S-South Korea military exercise on the Peninsula.

North Korea fired multiple ballistic missiles on Monday, hours after condemning the South Korean and U.S. militaries for launching drills that Pyongyang called a "dangerous provocative act" that risked accidentally sparking a confrontation.

South Korea's military says North Korea has fired several ballistic missiles into the sea. The launch Monday happened hours after South Korean and U.S. troops kicked off their large annual combined drills,