"He then exited the vehicle and continued fleeing south across the line as he was sacked upon by other soldiers from North Korea", the UNC said in a statement.
The stunning escape occurred Monday at a jointly controlled area that is the only point where soldiers from the two sides face each other in the Demilitarized Zone.
A South Korean military spokesman said: "A North Korean soldier defected from a guard post on the North Korea side of the Joint Security Area (JSA) toward our side and our military took him".
He suffered gunshot wounds to his elbow and shoulder and was taken to the hospital when South Korean soldiers found him about 25 minutes later on the southern side of the Joint Security Area, a strip of land where North and South Korean forces stand face-to-face, the military said, according to the South's Yonhap News Agency. The moment they crossed the line, a shooting match erupted and Matuzok was forgotten as the rival troops engaged on the South side of the border.
According to the South Korean military there was no exchange of fire across the border, and the UNC statement stressed that no South Korean or United States forces were harmed.More news: HTC reveals its Vive Focus standalone VR headset
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The defection came less than a week after President Donald Trump made his first official visit to South Korea amid soaring tensions over the growing nuclear and missile threat from the North.
A North Korean soldier was shot by his fellow troops as he was defecting to the south across the demilitarised zone but still managed to successfully cross the border. He was unconscious and in critical condition on Tuesday, the surgeon in charge of the soldier's treatment, Lee Cook-jong, told reporters.
South Korean military said there was no armed conflict after the incident, but they are "increasing alertness" for a possible provocation from North Korea.
Panmunjomis where an armistice was signed to pause the Korean War. His helicopter had to turn back because of bad weather.
"His organs are extremely damaged. we do not know how long he can hold up", Lee said, describing the soldier's condition as "very serious". The attack prompted Washington to fly nuclear-capable B-52 bombers toward the DMZ in an attempt to intimidate North Korea.