South Korean media said the missiles were launched off the north's eastern coast, two days into a ten-day no-sail zone in its waters.
Pyongyang last launched such a salvo in early July, when tensions over the north's nuclear programme were still at a high.
North Korea has since indicated it is willing to return to multilateral talks on its nuclear programme.
Speaking in Northern Ireland during an official visit, US secretary of state Hillary Clinton said Pyongyang's continuing nuclear activities were an affront to the international community.
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