South Korea, Japan and the United States conducted a joint air drill on Friday involving a U.S. B-52 strategic bomber and fighter jets of the three allies over international waters, the South's defence ministry said.

Top South Korean, U.S. and Japanese military officers urged North Korea to cease all unlawful activities that threaten regional security, as the three nations flew advanced warplanes for a joint exercise in a show of force against the North.

The top military chiefs of South Korea, the United States and Japan met in Seoul Friday, as US President Donald Trump piles pressure on Washington's allies over defence spending and trade.