The early-morning launch came as the UN Security Council met in New York to discuss last week's test of what Pyongyang called a hypersonic missile, although Seoul has cast doubt on that claim.
The Ministry of Defense (MOD) said in a statement that the armed forces have intercepted and destroyed a ballistic missile launched towards the UAE.
North Korea has said it is open to diplomacy, but that Washington's overtures are undermined by its support for sanctions and joint military drills and arms buildups in South Korea and the region.
In the hours after the Houthi attack early on Monday, Syrian state-run media said an Israeli strike hit near Damascus. The Israeli military did not immediately acknowledge it.
The missiles were launched at 12:30 a.m. (Tuesday 2230 GMT) from the Israeli-occupied Golan Heights, on the other side of a UN-supervised buffer zone. An Israeli military spokesperson declined to comment on the attack.
Border tensions between Pakistan and Afghanistan have risen since the Taliban seized power last year, with Islamabad claiming militant groups were carrying out attacks from Afghan soil.
Border tensions between Pakistan and Afghanistan have risen since the Taliban seized power last year, with Islamabad claiming militant groups are carrying out regular attacks from the neighbouring country.
Taiwan's foreign ministry welcomed the arms deal — the third approved under US President Joe Biden — saying it would help protect against Beijing's "continuing military expansion and provocation".
The launches are the latest in a series of North Korean weapons tests in recent months that have raised tensions in the region. They came a day after Pyongyang fired more than 20 missiles, the most it has fired in a single day ever.