In a statement, the Ministry of External Affairs said India was concerned over the rocket launch which was in violation of UN Security Council Resolution 1874.
India also asked North Korea to refrain from such action.
North Korea today successfully launched a long-range rocket. The three-stage rocket had achieved all its objectives, it said.
"The launch of the second version of our Kwangmyongsong-3 satellite from the Sohae Space Centre ...
On December 12 was successful," the Korean Central News Agency (KCNA) said.
"The satellite has entered the orbit as planned," it said.
Reacting to the development, Japan said it "cannot tolerate" the "extremely regrettable" launch. Britain also "deplored" North Korea's action.