North Korea confirmed the launch of two "surface-to-surface" ballistic missiles in test firing exercises, vowing to "annihilate the enemy", the day after the start of joint exercises between the US and South Korean forces, the largest in years.

A North Korean army missile unit fired the two missiles "in a medium-range system" on Tuesday in the country's southern Hwanghae Province, Yonhap News Agency reported, citing the official North Korean Central News Agency.

The South Korean military had reported that Pyongyang fired two short-range ballistic missiles towards the East Sea, which flew 620 km.

The launch of the two missiles comes at a time when the South Korean and US forces are conducting joint exercises that will last for 11 days, known as "Freedom Shield 23", in the largest joint military exercises between them in years.

The KCNA said Pyongyang would "definitely eliminate the enemy" if its army fought against its enemy.

North Korea also vowed to "completely fulfill its duty to attack with fire at any time" by stepping up live-fire attack training.