The UK ambassador to North Korea has been called in to the Foreign Office
Choe Il was called in and told that North Korea's actions "threaten international peace and security", a Foreign Office spokeswoman said.
The ambassador was told to convey the message to the government in Pyongyang in "the strongest possible terms" following the February 11 launch.
The weapon was fired in the direction of the East Sea, South Korea’s joint chiefs of staff reported.
The UK fully supports the UN Security Council's strong condemnation of North Korea's recent ballistic missile launch
Foreign Office spokesman
Officials said the missile was launched around 10.55pm GMT (7.55am local time), from Banghyeon in the North Pyongan Province.
The missile flew around 500km according to the South Korean military, with officials describing it as North Korea's "show of force" against Donald Trump administration's tough stance on Kim Jong-un’s regime.
The action follows a condemnation of the launch by the UN Security Council, which warned of "further significant measures" if Pyongyang does not stop nuclear and missile testing.
The Foreign Office spokeswoman said: "The UK fully supports the UN Security Council's strong condemnation of North Korea's recent ballistic missile launch.
"Today, in summoning the North Korean ambassador, we have made clear that the actions of the Democratic People's Republic of Korea were in direct violation of multiple resolutions, are a threat to international security and that such dangerous and destabilising activity must stop.
Kim Jong-Un in pictures Mon, January 23, 2017
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Kim Jong-Un, The Supreme Leader of North Korea takes himself and his leadership very seriously.
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North Korean leader Kim Jong-Un paying his final respects at the bier of Kang Ki Sop, alternate member of the Central Committee of the Workers' Party of Korea, deputy to the Supreme People's Assembly of the DPRK and general director of the General Administration of Civil Aviation, following Kang's death at an undisclosed location in North Korea.
"We urge North Korea to stop its provocative actions, which threaten international peace and security, and instead re-engage with the international community, and take credible, concrete steps to prioritise the well-being of its own people instead of the nuclear and ballistic missile programmes.
"The ambassador was asked to convey this message to Pyongyang in the strongest possible terms."
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