The missile flew over Hokkaido island before crashing into the northern Pacific Ocean. This is the first time North Korea has fired what is thought to be a ballistic weapon over Japan.
"The US has been talking to North Korea, and paying them extortion money, for 25 years. Talking is not the answer!" Trump tweeted.
A day earlier, he had warned a defiant North Korea that "all options are on the table".
"But you said 'all' options were on the table. The negotiating table itself should be one of them. Don't discount the power of dialogue," tweeted former State Department spokesman John Kirby.
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