The rockets were fired off the North's east coast and flew about 70 kilometres into the Sea of Japan (East Sea), a ministry spokesman said.
"Following the North's rocket launch at 6:20 pm, our military has maintained a close watch for possible North Korean provocations," he said.
Yonhap news agency earlier reported that 10 short-range missiles were fired.
South Korean troops have increased vigilance following a series of launches of rockets or missiles.
Pyongyang routinely condemns such joint exercises as rehearsals for an invasion, while Seoul and Washington say they are purely defensive.
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