A judge has sentenced US President-elect Donald Trump to an "unconditional discharge," bringing to an end the first criminal trial of a former US president.

The sentence means the incoming president has been spared any penalty, including jail time or a fine.

A jury found Trump guilty of 34 felony counts of falsifying business records last May, but his sentencing was postponed several times.

Justice Juan Merchan, who ultimately ordered Trump to appear on Friday, said: "This court has determined that the only lawful sentence that permits entry of judgement or conviction without encroaching on the highest office in the land is an unconditional discharge."

Trump appeared virtually from Florida and gave a brief speech, saying he was "totally innocent."