South Korea also suspended planes taking off and landing at its Incheon and Gimpo airports for about an hour.

A South Korean military official described the latest incursion as a clear act of provocation by Pyongyang.

"Our military will continue to respond thoroughly and resolutely to North Korea's provocations," the military added.

In response, the South Korean military said it also sent surveillance planes into the North to photograph its military installations.

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