The statement stresses the importance of working to reduce tensions and maintain peace and stability on the Korean peninsula.
Noteworthy, a resolution approved by the UN Security Council prohibits the DPRK to conduct any activities related to the development of nuclear weapons and their means of delivery.
Defense Minister Han Min-koo said at a meeting of the National Assembly's defense committee that the THAAD's radar in South Korea detected North Korea's launch on Sunday, citing confirmation from the U.S.
Some experts, including officials in Tokyo, said Sunday's launch successfully tested a new type of missile, potentially the longest-range in North Korea's arsenal.
The Security Council is scheduled to hold closed-door consultations on the missile test on Tuesday. He added that that launch violates Security Council resolution, and said that Mr. Guterres calls on the DPRK to "ensure full compliance with its global obligations".
The test is also an immediate challenge to South Korea's new president, Moon Jae-in, a liberal elected last week who expressed a desire to reach out to North Korea.
Monday morning, Putin called the test "counter-productive and unsafe". A Japanese military official says the missile flew for about 30 minutes and landed in the Sea of Japan.
North Korea is believed to be developing an intercontinental ballistic missile (ICBM) capable of carrying a nuclear warhead and reaching the mainland United States.
Council members expressed "utmost concern" about the country's "flagrant and provocative defiance of the Security Council by conducting these ballistic missile launches in violation of its worldwide obligations".
North Korea appears to be edging closer to developing a long-range nuclear missile capable of reaching the U.S. following a successful weapons test on 13 May which caused alarm across the world.
Pictures that have emerged online show the leader of the rogue nation happily watching over as North Korea launched the missile reportedly capable of carrying a "large scale heavy nuclear warhead".
Lee Dong-ryul, from South Korea's Dongduk Women's University, said that as China's influence on North Korea shrank, one of the few effective measures left in Beijing's toolkit was cutting off its oil supply to North Korea.
The White House reacted by calling for stronger sanctions from other countries around the world.
But Moon slammed the latest launch as a "reckless provocation" and said dialogue would be possible "only if the North changes its attitude". North Korea, however, thus far has not displayed the capability to produce a nuclear warhead sufficiently compact to fly on its missiles.
That suggests a range of 4,500km or more if flown for maximum distance, analysts said.