Also known as the Korean Satellite Launch Vehicle II, it took off from Goheung located 500km (310 miles) south of Seoul. It put a 1.5-ton dummy satellite into orbit.
South Korea is the seventh country to successfully send a rocket into space.
But it also comes as an arms race heats up between North and South Korea. Both have recently test-fired new weapons.
Nuri cost South Korea an estimated 2 trillion won (£1.23 billion or $1.6 billion) to develop. Weighing 200 tons and measuring 47.2 meters long, it is fitted with six liquid-fueled engines.
Its launch on October 20 afternoon was slightly delayed due to strong winds.
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