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The Joseon Navy (; Hanja: 朝鮮水軍) was the navy of the Korean dynasty of Joseon. While originally commissioned to protect merchant vessels and coastal towns from Japanese pirate raids, the Joseon navy is best known for defeating the Japanese naval forces during the Imjin War and is often credited with halting the Japanese invasion campaign and saving the dynasty from conquest.

Throughout Korea's naval history, rough waters around Korea's coast usually change tides and currents. Korean shipbuilding tradition centered on creating simple but structurally sound vessels that emphasized strength and power rather than speed. The Joseon Navy utilized warships from the Goryeo Dynasty to defend against the Wokou Piracy. In the 15th century, under the decree of King Sejong, more powerful cannons were developed and tested. The cannons on battleships proved to be a great success during actions against Japanese pirate ships. In 1419, King Sejong sent Yi Jongmu to raid the Japanese on Tsushima Island in the Oei Invasion as a response to Japanese Wokou raids on Korean coastal cities. Yi took 227 Korean ships and approximately 17,000 soldiers, landed, attacked, and plundered Japanese pirate settlements on Tsushima Island. The So clan, the ruling family of Tsushima, requested negotiations. In the diplomatic exchanges that followed, Korea permitted the So clan to continue trade with Korean coastal harbors under the condition that they suppress the activities of Japanese pirates. During the Joseon Dynasty, the navy and maritime operations fell into disuse, while fishing vessels continued to operate and prosper. The entire military was ignored and weakened because of the relative peace during the Joseon dynasty. Also, with the policy of Korean kings that emphasized agriculture and Confucian ideals, the Korean navy, along with the rest of the Korean military, weakened steadily. However, Korea eventually developed strong wooden ships called italic=no that made up the backbone of the Joseon navy. italic=no and the Korean navy were most widely used during the Japanese invasions of Korea (1592 1598), particularly under the leadership of Admiral Yi Sun sin. Admiral Yi also developed the turtle ship, based upon an older design. The Kobukson, or Turtle Ship, was the world's first armor plated warship. By the end of the 19th century, the Joseon Navy had no significant naval force other than coast defense fortresses. In March 1893, the Korean Imperial Naval Academy (통제영학당,統制營學堂) was established. The academy produces approximately 160 officers before its close during and after the First Sino Japanese War.

The command system of the naval forces was that one or two provincial commanders from each province commanded a provincial naval base, and each coastal county and city had a naval commander. The majority of the Joseon Navy was stationed in Gyeongsang, Jeolla, and Chungcheong provinces. After several reorganizations concerning the naval command of the military magistrates during the reign of King Sejong, he established the naval commander system, under which the naval commanders were placed. During the reign of King Seongjong in 1475, out of 148,849 service members, 48,800 were sailors, and 72,109 were soldiers turned marines. The naval forces not only recruited people from the coast but also on land. Officers received preferential treatment over the officers on land, and they served 3–6 months a year. When people joined the navy, they carried the military load on their backs and worked on board ships. They mobilized for miscellaneous work such as defending coastal fortresses. During the late Joseon Dynasty, King Sukjong implemented reforms to naval service to combat recruitment shortages and strengthen the navy.

These ships are made of two types of wood: pine (later timber) for the hull and oak for the pegs and masts. They each had two masts and sails and were propelled by 8 to 10 oars on each side for maneuvering and increased speed. The ships had two to three levels stacked up on top of each other with u shaped hulls that could turn them on their radius to fire on all four sides. Their flat keel enables a ship to sit comfortably on the tideland when the tide is out, after coming ashore, or inside a pier in high water. It also ensured greater mobility and a shallow draft and, in particular, allowed a ship to make sharp changes of direction at short notice. They also used smaller ships and boats for reconnaissance, skirmishes, transport, and fireships. These ships were meant to keep the Wako Pirates and the Japanese at bay and became a powerful force during the Joseon Dynasty.

The byeongjoseon (hangul=병조선) was a warship developed during King Sejo's era during peacetime. It was a very traditional ship developed to emphasize the standard use of warships for maintaining peace on the coasts when the navy became useless after the end of King Sejong. The Byeongjoseon developed into three sizes, the daebyeongjoseon, jungbyeongjoseon, and sobyeongjoseon. The daebyeongjoseon carries 50 60 sailors and 800 lbs of grain. The jungbyeongjoseon carried 50 men, and the sobyeongjoseon carried 30 men. These ships fell into disuse as the navy developed more efficient warships.

The Maengseon (hangul=맹선) was a warship succeeding the Byeongjoseon, serving from the time of King Seongjong to King Myeongjong. It has an appropriate number of oars installed on both sides as a place to row, and a deck is laid for soldiers to ride and engage in battle. The Maengseon came in three sizes, the Daemaengseon, Jungmaengseon, and Somaengseon deployed to naval bases. The Daemaengseon was large enough to accommodate 80 sailors, and when used as a merchant ship, it could carry 800 lbs of grain. However, the Maengseon became useless and failed to fulfill its role as a warship.

The Byeolseon (hangul=별선) was a warship to suppress the Wokou Piracy. They consist of daebyeolseon, jangbyeolseon, and sobyeolseon, and the average number of sailors on board is around 30. The Chuwabyeolmengseon and Chuwabyeolmengseon are special Byeolseon that chase the Wako, but their functions have not been revealed. However, it is believed that one of them may be a special ship like the turtle ship. Another type of Byeolseon is called the Waebyeolseon, but this is not a captured Wako ship; it is made like a Japanese pirate ship for naval practice.

A multideck warship that carries at least 26 cannons but usually carries more (maybe up to 50) and 50 to 60 rowers and sailors and another 125 marines. By having multiple levels, the rowers at the bottom were relatively safe, and marines at the top would have a height advantage over the enemy, firing down upon them and avoiding boarding the ship. The upper deck had a tower in the ship's middle used for command and observation. The deck of the panokseon was broad and flat, making it ideal for the installation of cannons. Panokseons came in different sizes, the largest vessels estimated to range between 70 feet (21 m) and 100 feet (30 m) in length with a second row of cannons to fire a broadside and to repel boarders.

The shield ship (Bangpaeseon, (hangul=방패선), which is also called (Bangseon, hangul=방선), was a medium sized warship armed with six cannons that carried 55 crewmen (mostly gunners) and protected them from enemy arrows and musket fire with a total of 31 pavisades of an appropriate height on both sides of the ship above the upper deck. It can operate near shallow west coasts where large ships have difficulty operating. In 1555, the ship launched into service, but it was not very important as it did not see action during the Imjin War and the Manchu Invasions until King Sukjong. The number of shields increased as time passed. In 1770, the number of shields was 97, more than 83 on large warships.

A pre industrial assault ship clad in spike protruding hexagonal armored plates on the roof and designed for usually ramming enemy ships while firing at point blank. Its crew complement usually comprised about 50 to 60 fighting marines and 70 rowers. The turtle ship carries 11 cannons on each side. There were two more cannon portholes on the front and back of the turtle ship. On the ship's top at the bow was a dragon's head used as an early form of psychological warfare. It's used as a projector that could generate and release sulfur to obscure vision and interfere with the enemy ships to maneuver and coordinate properly. It was also used as a third cannon port that could fit a cannon in the mouth of the dragon to be fired at enemy ships. The heavy cannons enabled the turtle ships to unleash a mass volley.

italic=no are sailing boats for fishing. italic=no A barge like ship that's small and fast to transport supplies to large ships and capture the retreating Japanese. It almost completely disappeared after the Imjin War. italic=no A small warship that escorts large and medium sized warships and serves as an auxiliary ship transporting supplies and marines. italic=no evolved from the Goryeo era italic=no (hangul=과선). There were iron spikes on the roof like the turtle ship, but the italic=no was smaller and usually had a complement of about 15 people. italic=no an auxiliary boat attached to a large warship. Its role was primarily reconnaissance in the early days of the Imjin War. Then it shifted to communication with land, transporting materials to a ship under construction, and civilians. italic=no a large warship with a pavilion. italic=no a scout ship that sailed ahead of the fleet to observe the enemy's movements, and when they found an enemy ship, it notifies the fleet.

The Joseon Navy had several naval infantry units responsible for boarding and capturing enemy vessels and defending their ships during naval battles. These units were known as haejang or haejangdae in Korean, which means "sea soldiers" or "naval troops." The haejang units typically consisted of strong, skilled soldiers trained in land and sea combat. They were equipped with various types of weaponry, including swords, spears, bows and arrows, and firearms. One of the most well known haejang units was the Geobukseon Haejang, composed of soldiers who served on the famous "turtle ships" (Geobukseon) of the Joseon Navy. These ships were so named because of their unique covered decks, designed to resemble a turtle's shell and protect the crew from enemy fire. The Geobukseon Haejang were highly skilled in close quarters combat and were known for their bravery and tenacity in battle. Other haejang units of the Joseon Navy included the Jangsa Haejang, composed of soldiers who served on the navy's larger warships, and the Changdae Haejang, a general term for the naval infantry units that served on smaller boats and ships. The Sujebi Haejang was a maritime infantry unit responsible for boarding and capturing enemy ships. They were known for their agility and ability to move quickly on the decks of enemy vessels. The Sujebi Haejang were highly trained in close quarters combat and were equipped with swords, spears, and other weapons. The Hwacha Haejang was a particular naval artillery unit that operated the Hwacha, a rocket launcher that the Joseon Navy used. The Hwacha could fire multiple rockets simultaneously and was a highly effective weapon against enemy ships. The Hwacha Haejang were highly trained in using this weapon and were considered one of the most fundamental units of the Joseon Navy.

The Joseon Navy had several elite units that were highly skilled and trained for specific purposes. The Haebyeong was a special naval force of the Joseon Dynasty that was responsible for defending the coastlines and harbors of Korea. They were known for their expertise in coastal defense and were equipped with various types of weaponry, including cannons, muskets, and swords. The Haebyeong were highly respected and were considered one of the most important military units of the Joseon Navy. During emergencies and wartime, officers, the naval officers and marines wore war clothing (yungbok, hangul=융복) with a (cheolrik, hangul=철릭) distinguishing rank by color. Red yungbok with a blue military belt represents high ranking officers. Blue yungbok with a red military belt represents mid ranking officers. Black yungbok with a black military belt represents junior ranking officers and elite soldiers and cavalry. High and middle ranking officers wore hats called jeonrip. Sailors and officers of low rank wore hats called beonggeoji or jukeon.

The sailors wore no armor or helmets. However, the Joseon military policy required sailors and marines to provide their armor. Padded armor (eomshimgap, hangul=엄심갑), and padded helmet (eomshimju, hangul=엄심주), made from cotton layers, iron plates, and (or) leather was popular among archers and gunners as they offered body protection at lower prices. Sets of leather armor worn by sailors are called Pigabju (hangul=피갑주). Senior naval officers and marines wore a traditional form of Korean armor that persisted with the Mongols' influences during the 13~14th centuries, lamellar armor (jalgap, hangul=찰갑). It was a complete metallic armor set. It was composed of a helmet resembling European kettle hats with attached neck defenses of mail or lamellar, body armor reaching down to the thighs or knees, and a set of shoulder guards that protected the upper arm. Another polearm used in the navy was the jangchang (hangul=장창), a four meter spear wielded for thrusting and drawing while moving forward and backward. But due to its long length, they cannot use this spear for throwing. The woldo was a 9 ft curved bladed polearm with a spike at the end of the handle and a tassel or feather attached to the blade. They also carry a pengbae (hangul=팽배), a round shield, or a deungpaea (hangul=등패), a rattan shield along with a sword.

Joseon sailors and officers often fought as archers with their bows, which had a range of Archers also used the pyeonjeon, a short arrow, and the tongah to help guide it as part of the standard kit of Chosun era archers. They can fire at an extended range of 350 meters and flatter trajectories with a faster velocity and penetrating power than regular arrows. Their quivers held 20 arrows and 10 pyeonjeon arrows. They also used repeating crossbows and crossbows.

In 1395, several weapons were in use: a series of cannons called the daejanggunpo, ijanggunpo, and samjanggunpo, a shell firing mortar called the jillyeopo, series of yuhwa, juhwa, and chokcheonhwa rockets, which were the forerunners of the singijeon, and a signal gun called the shinpo. These cannons improved during Taejong's rule. Among the people responsible for the developments was Ch'oe Hae san, son of Ch'oe Mu sŏn. The Koreans use the hwacha – multiple rocket propelled arrows. The hwacha consisted of a two wheeled cart carrying a board filled with holes into which the singijeon were inserted. It could fire up to 200 singijeon, a type of rocket arrow, all at once. The hwacha also has a variant called the munjong hwacha; it can fire 100 rocket arrows or 200 small Chongtong bullets at one time with changeable modules. The navy used them on panokseons under Admiral Yi Sun sin to attack Japanese ships from a distance. The cheon "heaven" or "sky," Ji "earth," Hyeon "black," and Hwang "yellow" or "gold" names are not significant, being the first four characters of the Thousand Character Classic. His son, Sejong, also made many improvements and increased the ranges of these cannons (called hwapo and later hwatong "fire tube" and chongtong "gun tube"). In 1432, the Joseon dynasty under the reign of Sejong the Great introduced world's first handgun, named the seungja (총통) or "victory gun," which serves as a standard Korean gun. It fires bullets, 15 small pellets, and an iron tipped arrow. The gunners used the seungja chongtong as a two handed club in melee combat. Other variants were the soseungja chongtong, a handheld cannon attached to a gunstock that fired a bullet and a large arrow; like the seungja, it could only fire by lighting the fuse. The se chongtong, was a miniature gun held by its cheolheumja (철흠자, iron tong handle), which allows a quick change of barrel for the next shot, and fires chase jeon (차세전, a contemporary type of standardized arrow) with a maximum fatal range of 200 footsteps (≈250 meters). The barrel has a total length of 13.8 cm, inner diameter of 0.9 cm, and outer diameter of 1.4 cm. Initially, Joseon considered the gun a failure due to its short effective range, but the chongtong quickly saw use after fielding to the frontier provinces starting in June 1437. The se chongtong was used by both soldiers of different units and by civilians, including women and children, as a personal defense weapon. The gun was notably used by chetamja (체탐자, special reconnaissance), whose mission was to infiltrate enemy territory, and by carabiniers carrying multiple guns, who benefited from its compact size. Another variant was the soseungja chongtong, a handheld cannon attached to a gunstock that fired a bullet and a large arrow, but like the seungja it can only fire by lighting the fuse. In 1596, the seungja were phased out in favor of Japanese style muskets and arquebuses. The Koreans called these jochong (조총/鳥銃). In the early 1500s, the bullanggi (불랑기/佛狼機), a breech loading swivel gun, was introduced to Korea from Portugal via China. It was divided into sizes 1 through 5, in decreasing size. The small but powerful cannons of this era saw extensive use during the Japanese invasions of Korea (1592–98) by both the Joseon Navy and the army. Mortars used at this time were the chongtong wan'gue, byeoldae wan'gu, dae wan'gu, jung wan'gu, and so wan'gu. These fired stones or the bigeukjincheonre a timed explosive shell. They were very effective against the weaker built Japanese ships. The Nanjung ilgi says that many captured and used by the Japanese realized their full potential. The Hong'ipo (hangul=홍이포) was a cannon introduced from the Netherlands by Hendrick Hamel and others in the 1650s. Joseon also used this cannon during the 1866 French campaign against Korea, the 1871 United States expedition to Korea and the Ganghwa Island incident of September 20, 1875.

During the Imjin War, Admiral Yi Sun sin disrupts Japanese supply lines and engage their fleets at strategic locations of his choosing such as straits with small islands and used currents to cripple them. He utilized range and artillery to keep the Japanese from boarding their ships and engaging in Hand to hand combat. Throughout his campaign, he used ambush tactics to demoralize them. He used three naval battle formations, "crane wing formation" (Hakik jin, (hangul= 학익진), "long snake" formation (Jangsajin, (hangul=장사진), and the "line abreast formation" (Hoengyeoljin, (hangul=횡열진). To support his formations, he used broadsides and plunging fire to sink the enemy ships. Yi Sun Shin's objective was to sink the enemy ships through plunging fire through heavy artillery fire and fire arrows. At the Battle of Okpo, Yi sun shin fired a broadside to prevent the Japanese from escaping the village. He recorded that "30 enemy ships burnt down to cover the sky with smoke", and in the Battle of Noryang, a record stated, "approximately 200 enemy ships burned with many killed and captured." He used this tactic for seven years on record. Yi Sun shin's ambush tactic was to strike the Japanese leader to demoralize their fleet preemptively. In the Battle of Dangpo, he ordered the turtle ship to penetrate the enemy fleet by spearheading the attack on the enemy flagship while decimating the surrounding fleet. Japanese admiral Kurujima Michiyuki was struck by the ship's arrow and fell into the sea. In the Battle of Busan and Myeongnyang, the Joseon fleet focused their firepower on the enemy's flagships and destroyed them. They also hanged their commander's head for his fleet to see like the Daimyo Kurushima Michifusa's at the top of the mast. A Japanese fleet followed their admiral, but without its admiral was a specific target for the Joseon fleet to destroy their enemies when they were confused. Partisan tactics (Dangpa, (hangul=당파전술) were shock tactics to break the enemy. In the Battle of Sacheon, the turtle ship penetrates the enemy fleet while the panokseon supports them with suppressive fire to whither them down. Yi Soon shin recorded at Dangpo, "The turtle ship came close to the enemy flagship, raised its dragon head, and fired the Hyeonja cannon. Let's hit the enemy ships and break them." Distance and range also became a partisan tactic at the Battle of Busan. Their goal was to destroy the enemy ships rather than kill them, resulting in the sinking of more than 100 enemy ships. Yi Soon shin utilized this strategy based on the accurate perception of the capability of both sides to gain their victories. The long snake formation consists of many ships in a battle line. There were two types of long snake formations. A long snake assault formation, where after the turtle ship deploys a Dangpa strategy, a line of panokseons follows behind it at Sacheon. In 1592, Yi Sun sin assembled the Joseon fleet in Busan and ordered the fleet in a long snake formation to sink and damage the Japanese fleet docked there while sailing in a circle for a continuous volley. The crane wing formation comprises large warships in the center and the reserve with flagship and lighter ships and turtle ships on their wings to surround the enemy fleet. During the Battle of Hansando, Yi Sun Shin dispatched a small detachment forward to lure the Japanese fleet, and they took the bait, following them into open waters off Hansan Island. He ordered his fleet to surround the Japanese fleet with the cran wing formation and bombarded the Japanese for the whole day. The piercing formation (chumjajin, 첨자진) is a formation based on a Hanja character that means "sharp." It transitions into a crane wing formation in two lines where it fires in a continuous volley through rank fire. A line of ships rotates and fires, and then the following line moves up and does the same.