South Korea has revealed how it could respond to North Korea's heightened military aggression with a video simulating a missile attack against Pyongyang.

In the one-minute clip, South Korea's military outlined its countermeasures against Pyongyang's military provocations by showing a Taurus fighter jet firing a long-range missile and accurately hitting several simulated targets, including the Ministry of People's Armed Forces in the North Korean capital.

The video was released a day after North Korea successfully tested an intercontinental ballistic missile (ICBM), its highest ever missile, which is reported to have reached an altitude of 2,802 kilometres (1,741 miles).

Following the successful test, North Korean media claimed Pyongyang had the capability to strike the US with a nuclear warhead.

US Secretary of State Rex Tillerson described the test as "a new escalation" and said global action was needed to stop the military threat posed by North Korea.

The US and South Korea retaliated by firing several missiles along the eastern coast of the Korean Peninsula, just hours after the ICBM launch. The 'deep strike' missiles fired into South Korean territorial waters aimed to show Pyongyang a "firm combined missile response posture", South Korean President Moon Jae-in said.

South Korea has reportedly purchased a total of 170 Taurus missiles from Germany, with around 80 missiles having been delivered so far, according to a spokesperson for South Korea's Ministry of Defence.

A spokesman for the South Korean military said the video had been made public to "show [the country's] resolve to destroy the leadership of the North Korean regime if it threatens the people of South Korea and the US with its nuclear weapons and missiles."