North Korea fired multiple ballistic missiles on Monday, hours after condemning the South Korean and U.S. militaries for launching drills that Pyongyang called a "dangerous provocative act" that risked accidentally sparking a confrontation.

South Korea's military said the missiles were fired from North Korea's western region toward the Yellow Sea. The launch was the first reported ballistic missile test since U.S. President Donald Trump took office in January.

The allies' annual Freedom Shield drills are scheduled to run until March 20, although live-fire exercises remain suspended after South Korean jets mistakenly dropped bombs on a civilian town near the border last week, injuring 29.