North Korea has launched its first intercontinental ballistic missile (ICBM) capable of hitting anywhere in the world, the secretive state has claimed.

It is part of a series of test-firings in recent months as the North works to build a nuclear-tipped missile that could reach the United States.

North Korea's Academy of Defence Science said the test of an ICBM marked the "final step" in creating a "confident and powerful nuclear state that can strike anywhere on Earth".

The South's Joint Chiefs of Staff said Tuesday's launch was made from North Korea's North Phyongan province, and was immediately reported to President Moon Jae-in.

However, they had previously said it was an intermediate-range missile, a belief echoed by Russia.

North Korean state television claimed the Hwasong-14 missile - launched under the supervision of Kim Jong-un - reached an altitude of 1,741 miles (2,802km) and hit its target precisely after flying for 39 minutes.

A weapons analyst said the missile could be powerful enough to launch Alaska.

Japan's government said the missile was believed to have landed in its exclusive economic zone in the Sea of Japan, having travelled a distance of around 580 miles (930km), but no damage to ships or aircraft in the area has been reported.

The launch is the first by the North since the June 8 test of a new type of cruise missile that Pyongyang says is capable of striking US and South Korean warships "at will".

Since taking office on May 10, Mr Moon has tried to improve strained ties with North Korea, but the North has continued its missile tests.

Pyongyang says it needs nuclear weapons and powerful missiles to cope with what it calls rising US military threats.

President Donald Trump criticised North Korean leader Kim Jong Un on Monday after that country's latest missile launch.

On Twitter, he wrote: "Does this guy have anything better to do with his life?"

In another tweet, he added: "Hard to believe that South Korea ... and Japan will put up with this much longer."

And he urged North Korea's biggest ally, China, to "put a heavy move on North Korea and end this nonsense once and for all!"

In response, China called for calm and restraint, with the country's foreign ministry saying the UN Security Council resolutions had clear rules on North Korea's missile launches and that it opposed these breaches.