The footage, released by the South Korean Ministry of Defence, shows three missiles taking off surrounded by a gust of smoke and firing high into the sky before angling towards their target.
The retaliation took place just six minutes after North Korea launched their fresh missile test.
South Korea’s missiles all successfully hit their targets about 50 meters out at sea.
The distance of the sea target simulated the distance between South Korea and the location their unhinged neighbour released their missiles from, proving that they would be able to attack Kim Jong-un’s regime if they chose to.
Seoul’s furious reaction came after North Korea’s hermit state launched a missile eastwards that landed about 210km west of Japan’s Kyurokujima island.
Japanese media reports the missile was in the air for 50 minutes – indicating a very high altitude flight path.
It travelled east for around 620 miles and to an altitude of 2,500 miles before crashing into the Sea of Japan.
An emergency meeting of Japan’s cabinet over conference call was scheduled for 3.30am local time (6.30pm GMT).
US leader Donald Trump was briefed on the missile while it was still in the air.
Mr Trump said: “It is a situation we will handle.”
He said the launch did not change his administration’s approach to North Korea, which has included new curbs to hurt trade between China and North Korea, which it sees as important to deterring Pyongyang from its ambition to develop a nuclear-tipped missile capable of hitting the United States.
While South Korea reacted quickly to the strike, they have previously pleaded with the US not to prematurely take military action against Kim Jong-un’s evil regime.
Choo Mi-ae, who is Chairwoman of South Korea’s ruling party, warned that the US President must consult with her government in Seoul before any military action was taken against their unruly neighbours.
She said: “Under no circumstances should the US go ahead and use a military option without the consent of South Korea.”
Addressing South Korea’s National Assembly earlier this month Donald Trump insisted that the US would “not be intimidated” by Kim Jong-un’s rhetoric and called for other countries to respond to the “twisted regimes” threats with a sign of military force.
He also warned the “three largest aircraft carriers in the world are appropriately positioned” to face Pyongyang.
Prior to his intervention in South Korea, Mr Trump had previously suggested he was ready to use the US military to attack the rogue country.