The summit, which is the first between a North Korean leader and a sitting US president, will take place on Tuesday.
Kim arrived in Singapore on board an Air China 747 that took off from Pyongyang in the morning seemingly bound for Beijing, then changed its flight number mid-air and headed south.
The city-state’s foreign minister Vivian Balakrishnan tweeted a picture of himself shaking hands with Kim at Changi Airport, and the North Korean leader was driven into the centre in a stretch Mercedes-Benz limousine, accompanied by a convoy of more than 20 vehicles.
Trump, who arrived in Singapore on Sunday, termed the meeting a "one time shot" at peace and said that the two leaders were in “unknown territory”.
Pyongyang’s nuclear arsenal—which has seen it subjected to several sets of UN Security Council sanctions and threatened with military action by the Trump administration—will top the agenda.
Both – Trump and Kim will meet Singapore Prime Minister Lee Hsien Loong before their face-to-face meeting, which comes after months of an extraordinary up-and-down relationship and war rhetoric.
(With PTI inputs)