According to the agency, the launch took place a few days after the visit of the US Secretary of State and the head of the Pentagon to Japan and South Korea.
North Korea fired two short-range missiles over the weekend, two US officials said on condition of anonymity.
The launches came after North Korea rejected repeated behind-the-scenes diplomatic offers from the administration of US President Joe Biden.
The Pentagon declined to comment.
The launches came days after US Secretary of State Anthony Blinken and Defense Secretary Lloyd Austin visited Japan and South Korea to discuss regional security alliances with them, with a nuclear-armed North Korea as the central threat.