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As scattered protests erupted elsewhere in Washington, Trump raised his right hand and put his left on a Bible used by Abraham Lincoln and repeated a 35-word oath of office from the US Constitution, with US Chief Justice John Roberts presiding.
Afterward, he stretched his arms wide and hugged his wife, Melania, and other members of his family. Then he turned around to a podium and delivered his inaugural address.
"This moment is your moment, it belongs to you," Trump told a large crowd that had earlier booed Chuck Schumer, the Democratic minority leader in the US senate.
Revisiting themes from his improbable campaign victory, Trump said his presidency would aim to help struggling middle-class families, build up the US military and strengthen US borders.
"We are transferring power from Washington D.C. and giving it back to you," he said. "From this day forward a new vision will govern our land," Trump said. "From this day forward it's going to be only America First."
The transition from a Democratic president to a Republican took place on the West Front of the domed US Capitol before a crowd of former presidents, dignitaries and hundreds of thousands of people on the grounds of the National Mall. The crowd stretched westward on a cool day of occasional light rain.
Trump, 70, takes over a country divided after a savage election campaign. A wealthy New York businessman and former reality TV star, he will set the country on a new, uncertain path at home and abroad.
Hillary Clinton, the Democratic candidate who Trump defeated on November 8, attended the ceremony with her husband, former president Bill Clinton. Former presidents George W. Bush and Jimmy Carter were also present with their wives. Bush's father, former president George H.W. Bush, 92, was in Houston recovering from pneumonia.
Trump and his vice president, Mike Pence, began the day attending a prayer service at St. John's Episcopal Church near the White House. Trump, wearing a dark suit and red tie, and Melania Trump, clad in a classic-styled, powder blue ensemble, then headed into the White House for a meeting with Obama and his wife, Michelle.
Trump took office with work to do to bolster his image.
An ABC News/Washington Post poll this week found only 40 per cent of Americans viewed Trump favourably, the lowest rating for an incoming president since Democrat Carter in 1977.
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