He said Mr Kim had told him that North Korea was "prepared to use exclusively the missile technology of other countries if it is offered rocket boosters for peaceful space research".
The Russian president met Mr Kim in the North Korean capital, Pyongyang, on Wednesday on the first ever visit by a Russian head of state to the isolated communist country.
During the talks Mr Putin said the North Korean leader had assured him that his country's missile programme was entirely peaceful.
He said Mr Kim had told him that North Korea was "prepared to use exclusively the missile technology of other countries if it is offered rocket boosters for peaceful space research".
Mr Putin called on countries that believe North Korean missiles pose a threat to join in such a programme.
The Russian leader rejected suggestions that Russia might be prepared to offer its rocket technology to Pyongyang.
"Why should only Russia pay?" he is quoted as saying. "One should expect other countries, if they assert that [North Korea] poses a threat for them, would support this project," Mr Putin said.
Missile threat
North Korea's missile capacity is cited by the US as a major reason for its need to build a National Missile Defence (NMD) system.
State Department spokesman Adam Ereli said Washington needed to see clear evidence that North Korea was serious about ceasing missile production.
"We look forward to concrete action by North Korea on its missile programme to achieve real progress in addressing the concerns of the international community," he said.
Summit success
Mr Putin's visit follows the landmark summit between North and South Korea last month.
He has said he wants to build on the success of the summit to ease tension between the two sides, but says other countries must do their part too.
Presidents Putin and Kim signed a joint declaration, promising closer economic and political ties.
According to Russia's Itar-Tass news agency, it also calls for the preservation of the 1972 anti ballistic missile treaty.
Russia argues that Washington's missile shield would be a breach of that treaty.
Analysts say Mr Putin may also be trying to undermine the US position on NMD by persuading the North Korea to agree to arms reduction talks.