The contents of the document have not yet been officially released, but photographs of signed agreement showed Kim will commit to "complete denuclearisation of the Korean Peninsula".
Since they weren't handed copies prior to the signing, journalists had to make out what was in it from photos of the agreement.
US President Donald Trump and North Korean leader Kim Jong-un signed a "comprehensive" document aimed at ending decades-old hostilities between the two countries.
With cameras of the world's press trained on them, Trump and Kim displayed an initial atmosphere of bonhomie.
Trump said Tuesday after meeting Kim that he's feeling "really great".
But the joint statement did say the two sides had agreed to recovering the remains of prisoners of war and those missing in action and repatriating them.
Mr Trump lashed out at his allies as part of a demonstration of strength as he flew into Singapore, according to a senior White House adviser.
The text from the document signed by Donald Trump and Kim Jong-un has been made available.
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Accompanying Trump were White House Chief of Staff John Kelly, National Security Advisor John Bolton, and Secretary of State Mike Pompeo.
Donald Trump shakes hands with Kim Jong-un at their historic meeting in Singapore. He said, without providing details of how it would happen, that the end-goal of a denuclearized Korean Peninsula would be "verified", with "a lot of people" on the ground to ensure it was so.
Trump said over the weekend that he would know if Kim is serious about brokering peace within "a minute" of meeting him.
In the weeks leading up to the meeting, several locations were considered: the Korean Demilitarized Zone, or DMZ, the border barrier that separates North and South Korea; Ulaanbaatar, Mongolia; Geneva, Switzerland; and Stockholm, Sweden.
The historic summit between Kim and Trump is set to take place at the Capella Hotel on Sentosa this Tuesday. He said he would speak to reporters later in the day.
Pompeo on Monday drew a firm line, saying the US plans to keep sanctions in place until North Korea eliminates its nuclear weapons capability.
The US president said he had, and would not retract his description of Mr Kim as "talented".
The president is now in Singapore, just hours away from his historic meeting with Kim. He added: "the world will witness a major change now".
They agreed to establish relations between the countries and committed to "build a lasting and stable peace regime on the Korean Peninsula", where the US and South Korea are still technically at war with the North.