US President Donald Trump and North Korean leader Kim Jong-un ended their historic first meeting in Singapore on Tuesday with a joint statement declaring that the summit had been a “tremendous” success.
The signed document includes a pledge from Kim to rid the Korean peninsula of nuclear weapons.
In a media conference later, Trump announced details not in the paper.
He said he would halt US military exercises in South Korea, something widely seen as a concession.
The summit focused on nuclear disarmament and reducing tensions.
The agreement said the two countries would co-operate towards "new relations", while the US would provide "security guarantees" to North Korea.
On nuclear weapons, Kim "reaffirmed his firm and unwavering commitment to complete denuclearisation of the Korean peninsula".
Observers say the document lacks substance, in particular on how denuclearisation would be achieved.
However, speaking to reporters after, the US President said the US would suspend "provocative" war games it holds with South Korea and that he wanted to see US troops withdraw from the South.
A spokesperson for the US forces said they had yet to receive any new guidance
On “denuclearisation,” he said that Kim Jong Un had agreed to it being "verified", a key US demand ahead of the meeting
Trump said Kim had also agreed to destroy a "major missile engine testing site"
But he said sanctions would remain in place for now and argued "we haven't given up anything".
Several reporters asked whether Trump had raised the issue of human rights with Kim, who runs a totalitarian regime with extreme censorship and forced-labour camps.
The US president said he had, and did not retract his description of Kim as "talented".
"Well, he is very talented," Trump said. "Anybody that takes over a situation like he did at 26 years of age and is able to run it and run it tough. I don't say he was nice."