They said the launch clearly violated United Nations resolutions.
North Korea Thursday warned its "patience is running out" and threatened to increase provocations following the breakdown of nuclear talks with the United States.
Five European members of the U.N. Security Council met on Tuesday to urge North Korea to take "concrete steps" towards giving up its nuclear weapon and ballistic missile programmes in a complete, verifiable and irreversible manner.
The Congressional Research Service (CRS), a Washington-based think tank, in its report "Defense Primer: Ballistic Missile Defense", released on Wednesday, said that North Korea has hundreds of short-range ballistic missiles (SRBMs) in-store that can inflict massive damage on all of South Korea and perhaps dozens of medium-range ballistic missiles (MRBMs) capable of destroying Japan and the American bases in the region, Yonhap news agency reported.
North Korea's ambassador to the UN in the run-up to that meeting said the USA was likely "behind the impure moves" of the European Union nations, warning that such talks would strengthen "our desire to defend our sovereignty".
North Korea has hit back at the six European countries which condemned it for test-firing a submarine-launched ballistic missile.
"There has been no particular progress on the issues of (sending South Korean) cheering squads or providing broadcast coverage, so they won't be easy", since there's only a few days left until the game, said a ministry official, who spoke on condition of anonymity during a background briefing to reporters.
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"But there is a limit to the patience of the DPRK and there is no guarantee that all our patience would continue indefinitely", the North Korean spokesperson added in a statement carried by the official Korean Central News Agency.
That statement - notably not signed by the USA - urged North Korea to cease its "provocative actions" and stressed that worldwide sanctions against the country "must remain in place and be fully and strictly enforced".
North Korea, as part of its efforts to sustain that dialogue, which has included three meetings between its leader, Kim Jong Un, and US President Donald Trump, has stopped testing nuclear weapons and intercontinental ballistic missiles.
And the while U.S. State Department later insisted that the talks had been productive, a foreign ministry statement on Sunday stressed that the "fate of U.S. -DPRK talks depends on the attitude of the U.S. given that we have clearly proposed to the U.S. side a solution to the problem".
North Korea said it can make a response "on the same level" but is refraining from doing that because it's still unnecessary or premature to do so.
North Korea has said such a follow-up meeting is not likely.