The former political rivals met over lunch in the Private Dining Room adjacent to the Oval Office.
During their visit, Romney congratulated the President for the success of his campaign and wished him well over the coming four years.
A White House statement said the focus of their discussion was on America's leadership in the world and the importance of maintaining that leadership position in the future.
Both men pledged to stay in touch, particularly if opportunities to work together on shared interests arise in the future.
The White House news release said their lunch menu included white turkey chili and Southwestern grilled chicken salad.
----Information from: The White House.