The modified Freedom Shield exercise, which combines computer simulations and field training and runs through March 20, still drew the condemnation of nuclear-armed North Korea.

South Korea and the United States on Monday began a large-scale annual joint military exercise to strengthen their combined defense c

North Korea has fired several ballistic missiles as South Korea and the United States initiated military drills. South Korea’s Joint Chiefs of Staff said on Monday that North Korea’s fifth launch event this year fired several missiles off the west coast into the sea.

South Korea's military said that Pyongyang fired multiple ballistic missiles off the west coast, just hours after South Korea and the US kicked off their annual military drills.

North Korea condemned an upcoming U.S.-South Korea joint military exercise Friday, saying that "counteraction is inevitable" and warning that the allies would "pay dearly."

South Korean and U.S. troops will begin their large annual joint military drills next week to enhance their readiness against North Korean threats.

North Korea fired several ballistic missiles into the sea after South Korean and U.S. troops began their large annual combined drills, Seoul said.