US, South Korea and Japan condemn North Korean ballistic missile launches in joint statement

"The United States, the Republic of Korea and Japan strongly condemn North Korea's latest ballistic missile launches," the joint statement said. 

The parties also announced the strengthening of trilateral cooperation with the aim of "the complete denuclearization of the Korean Peninsula."

In addition, Washington, Seoul and Tokyo stressed their readiness to meet with Pyongyang without preconditions.

Earlier, the DPRK launched three ballistic missiles towards the Sea of ​​Japan.

Japan protested to the DPRK in connection with the launch of ballistic missiles.