The UN Security Council also said it was considering an “appropriate response”.
The Council’s president, Luxembourg UN Ambassador Sylvie Lucas, described the North Korean move as a violation of Security Council resolutions.
North Korea test-fired two medium-range Nodong missiles over the sea on Wednesday.
It was Pyongyang’s first launch of such missiles since 2009.
Ballistic missile launches by Pyongyang are banned by the UN.
The Security Council held a closed debate on Thursday that included a report from the deputy secretary general for political affairs, Jeffrey Feltman, diplomats said.
The condemnation was not a formal statement but Sylvie Lucas said members had requested she read out the remarks as agreed by all participants.
She said members had agreed “to consult on an appropriate response” and said that this response “should be given quickly”.
The South Korean defense ministry said the missiles had been fired from the Suckon region north of Pyongyang and flew for about 400 miles before falling into the sea off the east coast of the Korean Peninsula.
The ministry described it as a “grave provocation”.
The US State Department described the launch as “a troubling and provocative escalation”.
In recent weeks, North Korea has launched multiple short-range missiles – actions which have coincided with annual US-South Korea military exercises.
SBvYN1qeusAImage source: Wikimedia Commons President-elect Donald Trump celebrated his election victory at the Ultimate Fighting…
Millions of voters across the US chose to return Donald Trump to the White House…
Donald Trump declares victory in the US election as he addresses jubilant supporters in Florida.…
Stocks around the world are rising as Donald Trump appears to be on the cusp…
Donald Trump has won Pennsylvania, North Carolina and Georgia and taken a lead over Kamala…
Quincy Jones, the celebrated musician and producer who worked with Michael Jackson, Frank Sinatra, Ray…