Trump, who prizes his relationship with North Korean leader Kim Jong-un, said the launches did not violate an agreement and were in line with what others were doing.

Abe said the launches violated UN resolutions, Reuters reported.

Launches of short-range ballistic missiles on Saturday were the seventh by North Korea since Trump and Kim met at the inter-Korean border in June.

The launches have complicated attempts to restart talks between US and North Korean negotiators over the future of Pyongyang’s nuclear weapons and ballistic missile programmes.