The US State Department has described talks with North Korea as "good discussions", disputing claims by the top North Korean envoy that the meeting broke down.

North Korea blamed the United States for bringing "nothing to the negotiation table" at the meeting, which came after months of stalemate.

The talks with Stephen Biegun, US President Donald Trump's special envoy, came after North Korea's defiant test of a sea-launched ballistic missile this week.

"The negotiations have not fulfilled our expectations and finally broke up... without any outcome. (It) is totally due to the fact that the US would not give up their old... attitude," envoy Kim Myong Gil told reporters in Stockholm.

However a spokeswoman for the State Department said those comments "do not reflect the content or the spirit of today's eight and a half hour discussion".

"The US brought creative ideas and had good discussions with its DPRK counterparts," Morgan Ortagus said.

She added that the United States has accepted host Sweden's invitation to resume talks in two weeks' time.

The talks marked a resumption of dialogue after a Hanoi meeting in late February between Mr Trump and North Korean leader Kim Jong-un failed to yield a breakthrough.

"The US raised expectations and offered suggestions like flexible approach, new methods and creative solutions but they have disappointed us greatly, and dampened our enthusiasm for negotiations by bringing nothing to the negotiation table," Kim Myong Gil said, adding that North Korea stood "at the crossroads of dialogue or confrontation".

The meeting took place in a heavily guarded venue on an island off Stockholm, several hundred metres from the North Korean embassy, an AFP correspondent said.

As it got under way, Swedish Foreign Minister Ann Linde tweeted: "I am encouraged that US and (North Korean) working level delegations are currently in Sweden to hold talks".

Dialogue needed to reach denuclearisation and peaceful solution," she said.

Similar-level talks on North Korea's nuclear disarmament were held in Stockholm in March 2018 and then in January this year.