Two more test flights that month also ended in apparent failure, with the missiles exploding seconds after launch or breaking up in flight.
The first successful flight was in May 2017, and North Korea went on to launch two more Hwasong-12s that year, flying them over the northern Japanese island of Hokkaido.
In Sunday's test, North Korea said it fired the missile on an elevated trajectory "in consideration of the safety of neighbouring countries."
The test "confirmed the accuracy, safety, and operational effectiveness of the produced Hwasong-12 type weapon system," KCNA said. South Korea reported the missile reached an altitude of about 2,000 km (1,243 miles) and flew to a distance of 800 km.