The two leaders signed copies of the document, in Korean and English, at a signing ceremony to conclude their summit in Singapore - the first ever meeting of the North Korean and U.S. heads of state. He said he would discuss it "at great length" at an upcoming news conference, and indicated it would be made available publicly.
Ahead of the meeting, Trump had said he would be able to work out within the first minute whether his North Korean counterpart was serious about making peace.
Kim said there would be a "major change" in the world.
Setting out the USA position before the summit, Pompeo stressed that the Trump administration would only accept complete denuclearisation of the North.
US President Donald Trump and North Korean leader Kim Jong-un signed a "comprehensive" document at the end of their historic summit here on Tuesday, vowing to forge a new partnership and reverse decades of American policy toward the rogue regime.
Before they signed the document, Trump and Kim had been involved in one-on-one talks, which came after months of planning.
Trump and Kim signed a joint statement Tuesday that - while short on details - committed to the denuclearization of the Korean Peninsula and said the two nations would hold "follow-on negotiations".
"Rather than signing an unsubstantial agreement, Trump and Kim should be signing a real document based on global law, the Treaty on the Prohibition of Nuclear Weapons". There was no proof, though, that this suspension were permanent rather than a simple freezing of activity while Kim negotiated with other countries like South Korea and the U.S.
Trump and Kim displayed an initial atmosphere of bonhomie
He reiterated that the goal of the summit remains the same: "the complete, and verifiable, and irreversible denuclearization of the Korean Peninsula".
Before getting on a plane headed back to the U.S., Trump held an hour-long press conference with the gathered global media, describing his hopes for the impact of the summit.
Trump said the United States relationship with North Korea will be different from the past.
Kim and Ri both joined Kim Jong Un for the April 27 inter-Korean summit, and Kim Yong Chol recently traveled to the U.S.to meet Secretary of State Mike Pompeo before delivering a letter from Kim Jong Un to Trump at the White House.
"She had a big operation", Mr Trump said.
"I really believe otherwise I wouldn't be doing this", Trump said of the summit. As reported by The Telegraph in March 2013, Rodman quoted Kim as saying he's against war. "I think he loved it", the United States president added during the press conference, where the video was broadcast on big screens.More news: Trump Says He’ll Know Outcome of North Korea Summit After One Minute