A communique at the end of the summit reiterated a joint call to secure "vulnerable nuclear material".
South Korean President Lee Myung-bak said nuclear terrorism remained a "grave threat", while US President Barack Obama said action was key.
The meeting was dominated by North Korea's plan to launch a rocket.
North Korea says the long-range rocket will carry a satellite when it goes up in April. The US says any launch would violate UN resolutions and constitute a missile test.
Iran's nuclear program was also on the minds of the summit participants, with Mr Obama pledging to meet the leaders of Russia and China on the sidelines to work towards a resolution.
At the meeting, world leaders discussed measures to fight the threat of nuclear terrorism, including the protection of nuclear materials and facilities, as well as the prevention of trafficking of nuclear materials.
A joint communique reaffirmed their commitment to nuclear disarmament, non-proliferation and peaceful uses of nuclear energy.
"Defeating this threat requires strong national measures and international co-operation given its potential global, political, economic, social and psychological consequences."
But it omitted a reference made in a draft communique last Thursday on the need for "concrete steps" towards a world without nuclear weapons, AFP news agency reports.
There are currently no binding international agreements on how to protect nuclear material stored peacefully inside its home country. An amendment seeking to do that is still unratified after seven years.
Addressing the summit, Mr Obama warned there were still "too many bad actors'' who were threatening to stockpile and use ''dangerous'' nuclear material.
"It would not take much, just a handful or so of these materials, to kill hundreds of thousands of innocent people and that's not an exaggeration, that's the reality that we face," he said.
"The security of the world depends on the actions that we take."
Mr Hu called for "an international environment conducive to boosting nuclear security" to be created and Mr Lee called for concrete action to tackle a threat that posed "a grave challenge" to peace.
The summit was attended by almost 60 leaders from around the world.
Meetings on Monday were overshadowed by North Korea's planned launch, scheduled to take place between 12 and 16 April.
Pyongyang says it is intended to mark the 100th anniversary of the birth of North Korea's founding leader Kim Il-sung.
On Tuesday, a North Korean foreign ministry
spokesman said that the launch would go ahead as planned and criticised
Mr Obama's stance as ''confrontational''.
A KCNA report also described the ''weather satellite'' Pyongyang planned to launch as useful for ''the study of weather forecast needed for agriculture and other economic fields''.
Japanese Prime Minister Yoshihiko Noda, speaking at the summit, called on Pyongyang to cancel the rocket launch, saying that it would violate UN Security Council resolutions.
"As such, the international community strongly urges North Korea to exercise restraint and cancel the launch," he said.
The resolutions were passed after a similar launch in April 2009. Japan is particularly concerned as that rocket was launched over the country three years ago.
The US and Chinese presidents met on Monday on the sidelines of the summit and agreed to co-ordinate their response to any "potential provocation" if Pyongyang went ahead with the launch.
South Korea and the US say North Korea risks further sanctions and isolation if it does not cancel its plans. Seoul has also warned it will shoot down the rocket if it strays over South Korean territory.
From BBC News
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