The show of aggression from Kim Jong-un’s forces coincides with the 105th anniversary of the state’s founding father Kim Il-sung, a celebration known as the “Day of the Sun”.
State TV revealed images of the massive Pukkuksong-2 SLBMs as they were driven through the reclusive state’s capital.
Dictator Kim Jong-un was seen in attendance after celebrations begun at around 2.30am BST (10am local time).
The deadly submarine-launched ballistic missiles being paraded in Pyongyang
Scenes from the parade in North Korea
Footage recorded by the country’s state broadcaster also showed troops marching in formation in the square named after Kim Jong-un’s grandfather, Kim Il-sung.
North Korea’s state broadcaster KCNA reported: "The most powerful and cutting-edge striking and defence means in our own style lined up to put an end to military supremacy claimed by imperialists.”
The country’s biggest national holiday comes amid fears Kim Jong-un plans to conduct his army’s sixth nuclear test as part of the festivities.
North Korea May Be Preparing a Nuclear Test for Kim Il-Sung’s Birthday
Fri, April 14, 2017
North Korea has begun preparing festivities for the 'Day of the Sun,' a holiday celebrating communist leader Kim Il-Sung
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Military officers visit the birthplace of North Korean founder Kim Il Sung, a day before the 105th anniversary of his birth, in Mangyongdae, just outside Pyongyang
Tensions are said to be on the “brink of war” over fears the United States may retaliate if Kim Jong-un does launch a nuclear test this weekend.
The US has also warned that a policy of "strategic patience" is over and Mr Trump has also said he will take on North Korea without the support of China if necessary.
North Korea has vowed it will go to war if it is provoked by President Donald Trump, who has sent a US aircraft carrier group towards the region.
North Korea showcase its forces during the Day of Sun celebrations
Inside North Korea: The pictures Kim Jong-un doesn't want you to see
Wed, April 12, 2017
Photographer Eric Lafforgue ventured to North Korea six times. Thanks to digital memory cards, he was able to save photos that was forbidden to take inside the segregated state
Eric Lafforgue/Exclusivepix Medi
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Taking pictures in the DMZ is easy, but if you come too close to the soldiers, they stop you
The US military is also carrying out drills near the Korean peninsula.
China has reportedly sent almost 200,000 troops the North Korean border amid fears refugees could flee the state in the event of war.
Recent satellite images from North Korea's nuclear plant has revealed possible activity following the depot leader's new year pledge that they were close to testing a intercontinental ballistic missile.