Google said "a community of citizen cartographers" used the Internet search giant's Google Map Maker software over a period of years to pinpoint roads and place names. Google Map Maker works in a similar way to Wikipedia, allowing users to add, edit and review information.
The company encouraged people to keep working on the maps, saying, "Creating maps is a crucial first step towards helping people access more information about parts of the world that are unfamiliar to them."
It said the North Korean maps could be particularly useful to South Korean citizens, "who have ancestral connections or still have family living there."
But people inside North Korea, where the Internet is extremely restricted, are unlikely to be able to see the mapping information Google is making available.
The company's executive chairman, Eric Schmidt, visited North Korea earlier this month along with former New Mexico Gov. Bill Richardson in a trip that left many observers puzzled.
Schmidt, who has in the past written at length about the Web's ability to empower citizens oppressed by autocratic governments, urged North Korea to embrace the Internet or face further decline in its impoverished economy.
Schmidt's daughter Sophie, who accompanied him on the trip, said in blog post about the visit that they had been able to take a look at North Korea's national intranet, which she described as "a walled garden of scrubbed content taken from the real Internet."