The deal broken in Paris in 2015 was seen as a landmark for coordinated global climate efforts. The US joins a tiny band of countries, including Syria, which will not back the accord.
Speaking to media at the White House on Thursday, Trump said, "In order to fulfil my solemn duty to protect America and its citizens, the US will withdraw from the Paris climate accord." He added that the agreement, in his view, was "less about the climate and more about other countries obtaining a financial advantage over the US."
Trump's decision to pull the US out of the international Paris climate agreement was described as "severing another of America's increasingly sparse ties to the global community."
Environmentalists said on Friday that the move should be "a trigger to redouble efforts to tackle climate change in Europe."
Leading international condemnation was European Commissioner for climate action and energy, Miguel Arias Cañete who said, "This is a sad day for the global community, as a key partner turns its back on the fight against climate change. The EU deeply regrets the unilateral decision by the Trump administration to withdraw the US from the Paris agreement.
"The Paris agreement brought us together in very challenging times. It is an unprecedented multilateral partnership between nearly 200 countries, supported by companies and communities across the world, to address a problem that threatens us all. It demonstrates our generation's responsibility towards this and future generations."
The Spaniard added, "The Paris agreement is fit for purpose. Paris is ambitious yet not prescriptive. The Paris agreement allows each party to forge its own path to contributing to the goals of preventing dangerous climate change. So there is room for the US to chart its own course within the Paris agreement. Some 195 countries have signed the Paris agreement - 195 different paths to meeting the Paris goals."
Cañete said, "The Paris agreement will endure. The world can continue to count on Europe for global leadership in the fight against climate change. Europe will lead through ambitious climate policies and through continued support to the poor and vulnerable.
"The EU will strengthen its existing partnerships and seek new alliances from the world's largest economies to the most vulnerable island states. This partnership will of course include the many US businesses, citizens and communities that have voiced their support for Paris and are taking ambitious climate action. Together, we will stand by Paris, we will implement Paris.
"We will do this because it is in our common interest. We see the Paris agreement and the low-carbon transition for what it is, the irreversible growth engine of our economies and the key to protecting our planet."
He said Trump's announcement would "galvanise us rather than weaken us," adding, "this vacuum will be filled by new broad committed leadership.
"Europe and its strong partners all around the world are ready to lead the way."
Parliament President Antonio Tajani commented, "The Paris agreement must be respected. It is a matter of trust and leadership. This agreement is alive and we will take it forward with or without the US administration.
"Those who choose to remain on the outside will miss a historic opportunity for citizens, the planet and the economy. The EU will continue to lead efforts against climate change and be a global pole of attraction for investment, innovation and technology, creating new jobs and boosting competitiveness" added the Italian EPP group deputy.
Environment committee Chair Adina-Ioana Valean, said, "We deeply regret this decision, and hope that this is only 'see you soon' and not 'farewell' from our US friends. To ease the transition to a low-carbon economy is simply to be pragmatic.
"The global community is committed to the Paris agreement. Civil society, industry and public awareness have evolved. The US still shares our planet, and we are entitled to hope that, beyond the decision of just one man - even if he is the President of the United States - America will, in the end, come back on our side in the fight against climate change."
She added, "In the meantime, we shall continue leading, together with China and the high ambition coalition. What is more, given the threat of global warming, this is a fight for multilateralism, for international cooperation, and for peace. And for we Europeans, an existential one."
S&D group Chair Gianni Pittella said, "In only a few months Trump has secured his legacy: undermining the world's future. Selfishness overcomes the common good."
Meanwhile, his ALDE group counterpart, Guy Verhofstadt, accused Trump of "putting his ego ahead of the future of our planet."
Following a call between Trump and British Prime Minister Theresa May, Downing Street released a statement, saying, "The Prime Minister expressed her disappointment with the decision and stressed that the UK remained committed to the Paris agreement, as she set out recently at the G7."
This came as French, German and Italian leaders signed a joint letter stating their opposition to renegotiating the accord, with the European Commission stating, "The world can continue to count on Europe for global leadership in the fight against climate change. Together, we will stand by the Paris agreement, we will implement the Paris agreement.