The missile was fired from waters southeast of the coastal port city of Sinpo, South Hamgyong Province, at around 11:30 a.m., according to the military.
"The SLBM was ejected from the submarine normally, but is estimated the initial flight was unsuccessful," the JCS said in a brief press release.
JCS noted that North Korea's ballistic missile launches are all direct violations of United Nations Security Council resolutions.
It stressed that the launch of two Musudan missiles on June 22 and the latest SLBM launch also go against warnings issued by the international community.
The latest launch came less than three months after the communist country's previous SLBM test fire ended in failure.
The sea-based missile, launched on April 23 from the East Sea, broke into several pieces in mid-flight after flying some 30 kilometers, military officials have said.
Also, earlier in the week the US Treasury Department blacklisted North Korean leader Kim Jong-un and 22 other officials and state entities for human rights violations.
The move marks the first time the United States has imposed direct sanctions on the North's leadership, and is seen as a warning.
The North Korea has angrily protested the US decision, saying the move constitutes crossing a "red line."
YNA/MNA