Trump's motorcade has left Zhongnanhai and headed for the airport, marking the end of the US president's visit to Beijing.
Trump is now on Air Force One returning to the US. Before departing, he saluted as those in attendance, dressed in blue, waved American and Chinese flags and cheered.
Xi called the visit "historic and of great significance" and said the two leaders created "a new positioning for the constructive, strategic and stable relationship" between their two countries.
"President Trump hopes to make America great again, while I am committed to leading the Chinese people towards realizing the great rejuvenation of the Chinese nation," he said in his statements, adding that the two countries should implement the "important consensus" reached.
Trump said the visit was "very successful, widely watched and unforgettable," according to the Chinese statement, and called Xi "an old friend of mine," adding: "I have great respect for him."
"I am ready to maintain a sincere and in-depth communication with President Xi Jinping and look forward to welcoming him to Washington," the US president said.