Belgium, Britain, Estonia, France and Germany said in a joint statement they were "deeply concerned" by Monday's firings, Pyongyang's first weapons test for months.
"We condemn such provocative actions. They undermine regional security and stability, as well as international peace and security, and are in clear violation of unanimously adopted UN Security Council resolutions," they said.
South Korea said the North launched two short-range ballistic missiles -- which the nuclear-armed North is banned from testing under the UN measures.
The North said leader Kim Jong Un had supervised a "long-range artillery drill."
Pyongyang has conducted 14 ballistic missiles tests since May and had threatened to demonstrate a "new strategic weapon" soon.
"We cannot accept this as a new normal that DPRK (Democratic People's Republic of Korea) is violating regularly international law," Germany's ambassador to the UN, Christoph Heusgen, told reporters.
"The government is spending money on missiles that are dropping into the sea instead of feeding its own people," he added.
Over the past year, France, Germany and Britain have been calling on the UN Security Council after every weapons test to issue a declaration committing to maintaining international sanctions on North Korea.
The sanctions are designed to curb Pyongyang's weapons program.
In December, permanent members Russia and China proposed a resolution aimed at easing the sanctions. The draft text has not yet been put to a vote.
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