North Korea fired off a suspected intercontinental ballistic missile on Friday, Tokyo said, with the weapon believed to have fallen into waters 210 kilometers off Hokkaido.

Prime Minister Fumio Kishida, speaking to reporters from the sidelines of the Asia-Pacific Economic Cooperation (APEC) forum in Bangkok, said the missile was believed to be an ICBM and had landed inside Japan's exclusive economic zone, which extends 200 nautical miles (370 km) from its coast.

"North Korea has repeatedly engaged in provocative actions at an unprecedented frequency, and I would like to reiterate strongly that these actions cannot be tolerated," Kishida said.