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Trump and Kim met at a hotel on Sentosa, a popular tourist island a few hundred metres off the main island of Singapore.
The summit – the first between a sitting US president and a North Korean leader – will mark a turnaround of relations between Trump and Kim after a long-running exchange of threats and insults.
On the eve of the summit, the US offered “unique” security guarantees to North Korea in return for a “complete, verifiable and irreversible” denuclearisation.
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The official North Korean news agency said on Sunday that Kim was ready to talk about “denuclearisation” and a “durable peace” at a summit held “for the first time in history under the great attention and expectation of the whole world.”
Trump said on Saturday that Kim has a “one-time shot” to make history. “I feel that Kim Jong-un wants to do something great for his people,” he had said.