In what looks like a victory for American big-stick diplomacy Kim agreed to wind down his nuclear ambitions so long as the US promised not to attack his country.
Photographs of the agreement signed by both leaders, who have now left Sentosa, reveal Kim Jong-un "reaffirmed his unwavering commitment" to denuclearisation adding the "world will see a major change".
The document reads: “President Trump and Chairman Kim Jong un conducted a comprehensive, in-depth and sincere exchange of opinions on the issues related to the establishment of new US-DPRK relations and the building of a lasting and robust peace regime on the Korean Peninsula.
“President Trump committed to provide security guarantees to the DPRK and Chairman Kim Jong un reaffirmed his firm and unwavering commitment to complete denuclearisation of the Korean Peninsula.”
The document is broken down into four key points, saying: “1. The United States and the DPRK commit to establish new U.S.-DPRK relations in accordance with the desire of the peoples of the two countries for peace and prosperity.
“2.The United States and the DPRK will join their efforts to build a lasting and stable peace regime on the Korean Peninsula.”
“3. Reaffirming the April 27, 2018 Panmunjom Declaration, the DPRK commits to work towards the complete denuclearization of the Korean Peninsula.
“4. The United States and the DPRK commit to recovering POW/MIA remains including the immediate repatriation of those already identified."
The leaders also agreed to implement their agreement at the "earliest possible date".
They said the summit aimed to work towards the "promotion of peace, prosperty and security of the Korean Peninsula and of the world".
The agreement said "Having acknowledged that the US-DPRK summit - the first in history - was an epochal event of great significance and overcoming decades of tensions and hostilities between the two countries and for the opening of a new future, President Trump and Chairman Kim Jong Un commit to implement the stipulations in this joint statement fully and expeditiously.
"The United States and the DPRK commit to hold follow-on negotiations led by the US Secretary of State, Mike Pompeo, and a relevant high-level DPRK official, at the earliest possible date, to implement the outcomes of the U.S.-DPRK summit.
"President Donald J. Trump of the United States of America and Chairman Kim Jong Un of the State Affairs Commission of the Democratic People's Republic of Korea have committed to cooperate for the development of new US-DPRK relations and for the promotion of peace, prosperity, and security of the Korean Peninsula and of the world."
Before signing what Mr Trump described as a "comprehensive" document, Kim said the two leaders had a historic meeting "and decided to leave the past behind. The world will see a major change".
The Republican leader said: "People are going to be very impressed and people are going to be very happy and we are going to take care of a very dangerous problem for the world."
Asked whether he would invite Kim to the White House, Trump said: "Absolutely, I will."
He called Kim "very smart" and a "very worthy, very hard negotiator."
Mr Trump added: "I learned he's a very talented man. I also learned that he loves his country very much."Mr Trump said he had formed a "very special bond" with Kim and that relationship with North Korea would be very different.