"We want to help you build your economy, educate your children and build a better life in all the villages of this country," he said.
Under a light drizzle, he walked through the dirt paths of the small and picturesque village of Ushafa, just outside the capital, Abuja, welcomed by singing singing children.
"I came to Nigeria to express the support of the people of the United States," Mr Clinton told thousands of assembled villagers.
The president reiterated his support for Nigerian democracy.
"We want to help you build your economy, educate your children and build a better life in all the villages of this country," he said.
He and his daughter, Chelsea, were presented with traditional robes of the Gbagyi tribe, which they put on to the delight of the crowd.
Afterwards, the president shook the hands of hundreds of villagers who were desperate to touch him.
'King of the world'
It far too brief a visit to give the president any meaningful insight into life for rural Nigerians. But the people were delighted their village was selected.
They described President Clinton as the king of the world and said they believed he would bring better roads, an improved water supply and education.
Despite his messages of support for Nigeria, Mr Clinton has held back from offering Nigeria any easing of its massive foreign debts.
No debt relief
On Saturday Nigeria's leader, Olusegun Obasanjo, made an emotional appeal to the president, describing the country's debt burden of $28bn as a gushing wound.
Mr Clinton did not offer any funds towards debt relief, instead offering millions of dollars to support education and to fight Aids.
But he promised to intercede with the creditor nations which hold most of Nigeria's debt to try to persuade them to reschedule payments.
On Monday, Mr Clinton goes to Tanzania, where the former South African president Nelson Mandela has been mediating to try to bring about a peace deal for Burundi.
US officials say the visit will go ahead despite reports that the signing of the deal is still not certain.
During his time in Nigeria, Mr Clinton has been full of praise for the country's transition from military dictatorship to constitutional democracy.
Two years ago, on his previous visit to Africa, Mr Clinton had snubbed Nigeria in a deliberate rebuff to its then leader, General Sani Abacha.
But the country had changed from being a pariah into being a partner, he said, and his presence was a symbol of its transformation.