The United States has warned that it is ready to use force, if needed, to stop North Korea's nuclear missile program, but said it prefers global diplomatic action against Pyongyang for defying world powers by test launching a ballistic missile.

The warning was made at an emergency meeting of the UN Security Council after Pyongyang's first successful test of an intercontinental ballistic missile that it said could carry a nuclear warhead.

The United States is calling for other nations to put more pressure on the North Koreans, singling out China.  

Beijing and Moscow on Tuesday proposed a plan to ease tensions, suggesting Pyongyang suspend missile tests with the US and South Korea ceasing large scale military exercises. 

General Vincent Brooks-leader of US forces in South Korea said "self-restraint" was all that was holding the allies back from re-opening hostilities with the North.

The launch, coming days after the visit of South Korea's new president to Washington, was seen as a message of defiance by North Korean leader Kim Jung Un, who oversaw the ICBM's test.

The Pentagon insisting the US is capable of defending itself against the new threat.