Davis said the missile was launched from Mupyong-ni and traveled 1,000 kilometers (621 miles) before falling into the Sea of Japan.
The missiles were fired into the "territorial waters of South Korea along the east coast", a USA military statement said.
This latest missile firing by North Korea comes a day before the USA prepares to conduct a new experimental test of its THAAD (Terminal High Altitude Area Defense) anti-missile defense system.
Japanese Prime Minister Shinzo Abe called it a "serious and real threat" to the country's security.
The Pentagon confirmed the United States detected the missile launch at approximately 10:45 a.m. EST, what would have been shortly before midnight in Japanese time.
"Our commitment to the defense of our allies, including the Republic of Korea and Japan, in the face of these threats, remains ironclad", spokesman Capt. Jeff Davis said.
North Korea's missile launch on Friday landed in Japan's territorial waters, the country's government has confirmed.
However, two US officials said some other analysts who study North Korea's missile program did not agree with the assessment, although there was no question that Pyongyang had moved further and faster in its efforts.
Russia Closes US Properties, Cuts Embassy Staff in Retaliation for Sanctions
Speaking at a news conference in Finland on Thursday, Russian President Vladimir Putin derided the sanctions bill now in the U.S. Moscow has responded by ordering a reduction in the number of U.S. diplomats in Russian Federation and closing the U.S.
In a follow-up story, The New York Times says a North Korean missile might even be able to hit the continental USA, but that would be a huge leap from earlier estimates.
"Not only do the launches clearly defy the UN Security Council's multiple resolutions, they are acts that threaten the safety of the peninsula and world peace".
North Korea has successfully tested the re-entry component of its intercontinental ballistic missile program, according to North Korea's state news agency. The South Korean and United States armies staged a joint ballistic missile exercise on July 28.
"The United States military with the South Korean military, would utterly destroy the North Korean military - but that would be done at high cost in terms of human life", he added.
USA secretary of state Rex Tillerson described the test as a "new escalation of threat" to the world, while President Trump called on China to "put a heavy move on North Korea and end this nonsense once and for all". The report also stated that it showed the "rocket's reliability and a capacity to launch it in a surprised manner at any place and time".
CIA Director Mike Pompeo said last week that he's "hopeful" the US can take the reins away from Kim Jong-un and his nuclear program.
Conducted on America's July 4 holiday, North Korean dictator Kim Jong-Un said it was a gift to the "American b******s".
'North Korea's repeated provocative acts absolutely can not be accepted, ' he said.