Tel Aviv: Former New York Mayor Rudy Giuliani has boasted that US President Donald Trump brought North Korean leader Kim Jong-un to his "hands and knees" after cancelling a high-profile summit last month.

Addressing a business conference in Tel Aviv, Israel, Giuliani, now Trump's lawyer, also said that Special Counsel Robert Mueller's team was trying to frame Trump.

Last month, Trump cancelled the high-stakes June 12 summit in Singapore in a courteous and formal letter blaming "tremendous anger and open hostility" on statements from the North. The meeting date has since been revived.

Giuliani told the audience that there was no choice but to cancel the summit after Kim insulted the US Vice President Mike Pence and National Security Adviser John Bolton and threatened nuclear war. He said that Trump's tough line had forced Kim to plead to reschedule their summit.