In it, Kim committed (again) to denuclearization of the Korean peninsula, and the USA offered vague security guarantees in return.
Trump later told a news conference he expected the denuclearization process to start "very, very quickly" and it would be verified by "having a lot of people in North Korea". "We are going to get complete denuclearization; only then will there be relief from the sanctions", he said.
Trump's announcement minutes after the summit's conclusion that he would halt the "provocative" joint military drills were a shock to South Korea and caught much of the US military off guard, too.
This has been taken to indicate that the USA would grant concessions to Pyongyang along the way.
When his son, Kim Jong Il, died in 2011, it was Ri - clad in black funeral clothes and her voice quavering - who delivered the news to North Koreans. On Thursday, North Koreans finally got a glimpse of video of Trump and Kim together, as official Korean Central Television broadcast the first footage of Kim's trip to Singapore.
Pompeo had told reporters on Wednesday that the North Korean nuclear disarmament could take two years to complete.
Kim Jong-Un, left, inspects the ballistic rocket Hwasong-12 in North Korea.
Late past year, for example, she announced North Korea's test of what it said was a hydrogen bomb, telling viewers it was a "perfect success". He said negotiations would recommence "in the next week or so". After all, if there is no threat, why would the North Koreans need to give up their arsenal? A Democratic senator from Connecticut, Chris Murphy, said of the outcome of the Singapore summit: "Kim's gulags, public executions, planned starvation, are legitimized on the world stage..." In the village of Panmunjom along the North-South border, the rival Koreas on Thursday held the first high-level military talks since 2007, focused on reducing tensions across their heavily fortified border.
Trump, seemingly unprompted, has long wanted to withdraw the United States from South Korea, and now he may have found a reason. Forty percent say the former real estate developer should take the most credit, followed by South Korean President Moon Jae-in with 11 percent.
The freaky quirks of the summit seemed to follow us even as Air Force One left Singapore behind.
Trump said not only was a pullout not discussed, the United States "is not drawing down at all".
Pompeo, the former Central Intelligence Agency director, planned to fly to Beijing later Thursday to update the Chinese government about the talks.
Pompeo said Trump was alluding to the fact that it was the first time a sitting USA president had met with Kim, adding that both leaders had a "blunt conversation" about the need for the communist state to rejoin the world community.
'No, it is not drawing down at all, ' Trump told Fox News when asked about that part of his agreement with Kim.
Trump's own chest-thumping tweet seemed reminiscent of the "Mission Accomplished" banner flown behind President George W. Bush in 2003 when he spoke aboard a Navy ship following the US invasion of Iraq. The words came back to haunt the administration, as the war dragged on throughout Bush's presidency.
Pompeo also has to sort out exactly what the agreement entails.
"Before taking office people were assuming that we were going to War with North Korea", Trump tweeted.
In the joint statement, North Korea only agreed to "work toward" denuclearization. He said Trump was proceeding "with eyes wide open" to the prospect that diplomacy may falter, and that Trump was merely reflecting the historic nature of his confab with Kim.
Trump replied by praising Kim as a "tough guy".
To give you a brief recap of what the other media around the world said, Washington Post reported that the summit was a huge success for the North Korean leader, saying that President Trump made huge concession to Kim. -South Korean drills was met with concern. Trump cast the decision as a cost-saving measure, but also called the exercises "inappropriate" while talks continue.
Beatrice Fihn, executive director of the International Campaign to Abolish Nuclear Weapons, criticised the document as "unsubstantial" and said Mr Trump and Mr Kim instead should have signed the Treaty on the Prohibition of Nuclear Weapons. The exercises are meant to ensure that South Korean and USA troops are ready to respond to sudden North Korean aggression.
"He was unambiguous about that", Pompeo said.
Kim understood getting rid of his nuclear arsenal needed to be done quickly and there would only be relief from stringent United Nations sanctions on North Korea after its "complete denuclearization", Pompeo said.
The statement provided little detail of what Trump and Kim committed to in terms of timeline and verification of denuclearization of the Korean peninsula and how many nukes Kim is sitting on.
In Japan, the prospect of canceled U.S.
On Wednesday, Japan's Defense Minister Itsunori Onodera pointedly said the drills played a "vital role in East Asia's security".