From the historic handshake between the two leaders to the signing of a joint agreement, experts have analysed the meeting and its significance for future US-North Korean relations.
But there were some odd moments of the day, which have got people talking.
1. The beaches
Before he became president, Donald Trump was better known for his property empire.
But it was still a surprising moment to hear the US leader mention a lesser known North Korean attraction: its coastline.
"They (North Korea) have great beaches. You see that whenever they're exploding their cannons into the ocean. I said, 'Boy look at that view. Wouldn't that make a great condo?'," he told reporters after meeting Mr Kim.
The US government currently advises against all travel to North Korea and says that its citizens who decide to go should draft a will before departure.
2. The pose
Before the two leaders sat down for a working lunch, Mr Trump jokingly asked photographers: "Getting a good picture, everybody? So we look nice and handsome and thin?"
However, his words seem to have been lost in translation, judging by Mr Kim's blank expression.
Trump to photographers: Are you taking good pictures so we look 'nice and handsome and thin?'— NowThis (@nowthisnews) June 12, 2018
Kim Jong-un: ... pic.twitter.com/9SupjgBxie
3. The video
Before the US president gave a news conference, journalists were treated to a highly unusual four-minute video in Korean and English, which Mr Trump said he had shown to Mr Kim.
On a background of tense music and strong images, a dramatic narrator asked: "Will this leader choose to advance his country... Will he shake the hand of peace and enjoy prosperity like he has never seen?... Which path will be chosen?
"Featuring President Donald Trump and Chairman Kim Jong-un in a meeting to remake history, to shine in the sun. One moment, one choice. The future remains to be written."
This is the amazing video that Trump played for Kim. I just don’t know where to begin. https://t.co/cFyVyBYv36— Philip P. Pan (@panphil) June 12, 2018
4. 'The Beast'
After talks concluded, Mr Trump decided to show the North Korean leader his ride for the summit - a black presidential limousine known as The Beast.
Cameras followed the two men as they walked over to the vehicle and Mr Kim briefly looked inside.
President Trump shows Kim Jong-un "The Beast"
5. The pens
The pens originally laid out for the signing of the documents were black and featured President Trump's signature in gold.
The pen bearing Trump's signature was inspected by a North Korean aide, but was later swapped for another
But at the last moment, Mr Kim's influential sister Kim Yo-jong switched the North Korean leader's pen for a ballpoint pen.
Security for the North Korean leader has been high throughout the trip, but it is unclear whether the pens were swapped for security or political reasons.
6. The tears
While interest in the meeting was understandably high, one man seemed more emotional than most.
Former NBA star @DennisRodman shed tears over the summit between North Korean leader Kim Jong Un & @realDonaldTrump in Singapore, saying former President Obama wouldn't give him the time of day with his diplomatic efforts. #NorthKoreanSummit #DennisRodman https://t.co/rLuFNWLX1p pic.twitter.com/BcmoaBwM3F— The Daily Caller (@DailyCaller) June 12, 2018
Former basketball star Dennis Rodman, who has visited North Korea five times and twice took part in Mr Trump's Celebrity Apprentice, was visibly overwhelmed as he spoke about the meeting between the two leaders.
He said he had received "so many death threats" over his contacts with the North Korean leader, but said: "I took all those bullets, I took all that, I took everything... and I'm still standing."
"Today is a great day for everybody... I'm so happy," he added.