Zelenskiy's office said Trump and Zelenskiy had spoken by phone for about an hour.
Zelenskiy said on X that they had had a meaningful conversation and talked about "opportunities to achieve peace, discussed our readiness to work together at the team level, and Ukraine's technological capabilities".
The Kremlin said Putin and Trump had agreed to meet in the call that lasted about an hour and a half, with Putin inviting Trump to visit Moscow.
"The Russian president invited the US president to visit Moscow and expressed his readiness to receive American officials in Russia in those areas of mutual interest, including, of course, the topic of the Ukrainian settlement," Kremlin spokesman Dmitry Peskov said.
"Putin and Trump also agreed to continue personal contacts, including arranging a face-to-face meeting."
Earlier on Wednesday, Trump's Defense Secretary, Pete Hegseth, said a return to Ukraine's pre-2014 borders was unrealistic and the US administration did not view NATO membership for Ukraine as part of a solution to the war.
"We want, like you, a sovereign and prosperous Ukraine. But we must start by recognising that returning to Ukraine's pre-2014 borders is an unrealistic objective," Hegseth told a meeting of Ukraine and more than 40 allies at the headquarters of the NATO military alliance in Brussels
"Chasing this illusionary goal will only prolong the war and cause more suffering."
No peace talks have been held since the early months of the war, now approaching its third anniversary.Â
Former US president Joe Biden held no direct discussions with Putin after Russia launched its full-scale invasion of Ukraine in February 2022.
Ukraine succeeded in the war's first year in pushing Russian forces back from the outskirts of Kyiv and recapturing swathes of Russian-occupied territory.
But Russian forces have mostly had the upper hand on the battlefield since a failed Ukrainian counteroffensive in 2023, making slow but steady gains in intense fighting that has killed or injured hundreds of thousands of troops on both sides and laid Ukrainian cities to waste.
Russia occupies about a fifth of Ukraine and has demanded Urkaine cede more territory and be rendered permanently neutral under any peace deal.
Ukraine demands Russia withdraw from captured territory and wants NATO membership or equivalent security guarantees to prevent Russia from attacking again.
In recent interviews, Ukrainian officials appear to have accepted that the country will not be admitted to NATO soon but have emphasised its need for military support under a peace deal.
"If Ukraine is not in NATO, it means that Ukraine will build NATO on its territory. So we need an army as numerous as the Russians have today," Zelenskiy said in an interview with The Economist published on Wednesday.
"And for all this, we need weapons and money. And we will ask the US for this," Zelenskiy said, describing that as his "Plan B".
with DPA
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