Details of the document are not yet clear.
The Kim-Trump summit meeting centred on nuclear disarmament and reducing tensions concluded with a one-page agreement.
After the day of meetings, Trump said that the two had a "special bond" and that Kim was a "very talented man". Mr Trump said he wanted to see USA troops withdraw from the South. That included the USA decision to halt its drills, although it's unclear which ones and for how long. Generations of North Korean leaders have made and broken promises before - this Administration's success will be judged on whether it can eliminate Kim's nuclear weapons and verify they are gone.
Only hours before the White House announcement, US Secretary of State Mike Pompeo had seemed to lower expectations for the meeting, which Trump had earlier predicted could potentially yield an on-the-spot deal to end the Korean War.
After a day filled with smiles and handshakes watched around the world, the United States "committed to provide security guarantees" to North Korea, while Pyongyang committed to "work towards" denuclearizing the Korean peninsula.
"President Trump and Chairman Kim Jong Un conducted a comprehensive, in-depth, and honest exchange of opinions on the issues related to the establishment of new U.S. -DPRK relations and the building of a lasting and robust peace regime on the Korean Peninsula", the leaders said in a joint statement. "If our alliances are getting weaker and we're not going to do military exercises, where is the pressure?" At the end of a summit in April on the southern side of the Demilitarized Zone between the Koreas, Kim and South Korean President Moon Jae-in watched a highly produced video, backed by inspirational music, that highlighted the ceremonies they had just conducted during the day.
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Reacting to Trump's tweets , Trudeau's office said: "We are focused on everything we accomplished here at the summit ". The majority of Canadian exports go to the United States, making Canada uniquely vulnerable to a US trade war.
The US would suspend "provocative" war games it holds with South Korea.
However, Wednesday's report - the North's first official account of the landmark summit in Singapore - suggested that Trump had directly conveyed the same commitment to Kim after the North Korean dictator had called on Trump to quickly address "irritating and hostile military actions", a longtime grievance of the Kim regime.
While President Trump might be correct that his threat to rain "fire and fury" on the Korean Peninsula helped get Kim to the table (and perhaps persuaded Xi to cajole him there), the opportunity to convert that leverage into real denuclearization has been squandered. "But today, we are showing our dignity as an independent nation in front of the whole world", said Lieutenant-Colonel Hwang Myong Jin.
In addition to his one-on-one with Trump, Kim also impressed observers in "four-by-four" talks, enlisting former spy chief Kim Yong-chol, Foreign Minister Ri Yong-ho and vice-chairman of the Workers' Party of Korea Ri Su-yong for discussions. "I don't say he was nice". "Shared objectives to denuclearize and an agreement to continue the negotiations".
"Yeah, he's de-nuking, I mean he's de-nuking the whole place".
"Anybody who thinks we're going to fix 50 years-plus of major challenges here in one meeting is not being realistic".