The summit, the first between a sitting United States president and a North Korean leader, was in stark contrast to a flurry of North Korean nuclear and missile tests and angry exchanges of insults between Mr Trump and Mr Kim past year that fuelled worries about war.
Trump has his critics around the world but the fact he has become the first US President to secure a meeting with a North Korean leader will go down in history.
Trump later promised to end "war games", with ally South Korea, a concession to Kim that appeared to catch the Pentagon and Seoul government off guard and sowed confusion among Trump's Republican supporters in Washington.
The news on television and the front page of the ruling Workers' Party newspaper was something North Koreans never would have imagined just months ago - their leader Kim Jong Un warmly shaking hands with President Donald Trump.
During a news conference after the summit, when asked why "complete, verifiable, irreversible denuclearization" was not secured in the details of the agreement, Trump conceded that there simply was "no time". Ultimately, in the short term, at least while diplomacy continues, Trump's tweets seem to indicate he is ready to live with the fact that North Korea has nuclear weapons and potentially the capacity to fire them at the United States, in an implicit erosion of the U.S. strategic position.
Trump left the discussions assured that Kim would begin dismantling his country's missile sites in the immediate future, telling ABC News that Kim "trusts me, and I trust him".
It's an appalling reality, but that's the world we live in so I suppose we need to show gratitude when two leaders are willing to agree not to annihilate each other's populations #ThankyouforNotNukingUs.
Trump, seemingly unprompted, has long wanted to withdraw the US from South Korea, and now he may have found a reason. -South Korea military exercises could be put back on if talks with Pyongyang do not progress.
Trump raised eyebrows when he told reporters in Singapore his intentions to stop the joint drills.
A suite on the 20th floor of St. Regis Hotel, where Kim is staying, costs more than 13,000 Singaporean dollars a night. "All I can say is they want to make a deal". The next scheduled major exercise, involving tens of thousands of troops, normally is held in August.
But others said it's a great step forward for peace. But simultaneously, Seoul is aiming to prepare its defenses in case the US decides to halt joint military exercises indefinitely or pull out the around 28,000 troops it has stationed inside South Korea's borders.
Washington is eager to see if the North's pledges were "sincere", Pompeo said, adding: "The US has been fooled before".
If the United States and North Korea, or North and South Korea normalize relations, that undercuts the stated rationale for having U.S. forces on the peninsula.