North Korea's leadership has warned the USA it is "ready to hit back with nuclear attacks" if provoked.
Kim Jong-un mounted the spectacular show of strength as tensions over Pyongyang's nuclear ambitions are stretched to the limit, with U.S. president Donald Trump deploying an aircraft carrier battle group to the region.
Weapons analysts said they believe some of the missiles on display were new types of intercontinental ballistic missiles, or ICBMs, including a solid-fuel missile created to be fired from a submarine, which would make it hard to detect.
The North, under leader Kim Jong-Un, launched a ballistic missile from the same region earlier this month ahead of a summit between the the U.S. and China.
USA officials said on Friday that Trump's advisers weighed a range of ideas for how to get North Korea to abandon its nuclear program.
The Pukkuksong submarine-launched ballistic missiles were also on parade.
North Korea has reportedly launched a missile on its east coast which has failed.
He added that North Korea will keep building up its nuclear arsenal in "quality and quantity" and said Pyongyang is ready to go to war if that's what Trump wants.
Mr Kim, looking relaxed in a dark suit and laughing with aides, oversaw the festivities on the "Day of the Sun" at Pyongyang's main Kim Il-sung Square.More news: What Taxes Will You Pay in Retirement?
"North Korea must have felt the shock wave travelling all the way from Afghanistan", the Communist party-controlled newspaper said in an editorial.
Trump has threatened that if Beijing isn't willing to do more to squeeze the North, the U.S. might take the matter into its own hands.
Despite speculation that the country would launch a nuclear test in celebration of its founder's birth on Saturday, North Korea declined to do so.
Last year North Korea, which regularly fires off short-range rockets, launched a long-range missile and carried out two nuclear tests.
It is the first time North Korea publicly displays the ballistic missiles, which have a range of over 1,000 km (600 miles), at a military parade.
North Korea's state agency KCNA warned against "serious military hysteria" and said USA military action in Afghanistan "could not be overlooked".
"All the brigandish provocative moves of the USA in the political, economic and military fields pursuant to its hostile policy toward the DPRK will thoroughly be foiled through the toughest counteraction of the army and people of the DPRK", the North's KCNA state news agency said.
As hostilities in the region surge Trump has sent an aircraft carrier-led strike group to the Korean peninsula to press his point.
The 1950-1953 Korean War ended in an armistice rather than a peace treaty, and Pyongyang said it needed nuclear weapons to defend itself against a possible U.S. invasion.