Moderator Chris Wallace kept on attempting to hold his ground amid interruptions from the White House incumbent as Mr Trump and Mr Biden discussed Covid-19, healthcare and law and order.
At times, the debate got personal with Mr Biden calling the president a “clown”, and the Republican candidate countering “There’s nothing smart about you”.
Here, the PA news agency looks at the key points from events in Cleveland.
Joe Biden’s quote of the night
Will you shut up, man. This is so unpresidential ... Keep yapping, man
Donald Trump’s quote of the night
In 47 months I've done more than you have done in 47 years
Tweet of the night
Hillary Clinton gives some insight into her feelings last time around when facing Mr Trump.
Picture of the night
Figure of the night
What do the polls say?
What’s next
The pair get a break – from debates, at least – for a fortnight as vice presidential candidates Mike Pence and Kamala Harris take to the stage next week in Salt Lake City, Utah.
