The three I saw were the Hwasong (a SCUD variant), the AG-1 (A Seersucker anti-ship variant) and the KN-02 (A short range ballistic missile based on the old Soviet SS-21 Scarab). These are shown below, in that order.
The lack of NoDongs and TaepoDongs was intentional; no need to give the foreigners too much to be concerned about. But each KCNA press release on the parade made sure to include a line about the missiles: “Columns of rocket units also went past the tribune of honor, demonstrating the invincible might of the KPA equipped with modern offensive and defensive means.”
What is interesting is that these were battlefield missiles, not the strategic ones used to shape foreign perceptions, but actual, useable weapons. And they are also for sale.
On a side note, for some reason this picture of the reviewing stand reminds me of the intro to the Muppet Show...