Iran's President Hassan Rouhani said that President Trump was launching "psychological and economic war against Tehran", and Rouhani added in a press conference that his country will consult with other parties in the deal and will decide his country's next step.
Calling it "decaying and rotten", he said the deal was "an embarrassment" to him "as a citizen".
Iran has ruled out renegotiating the accord and threatened to retaliate, although it has not said exactly how, if Washington pulls out.
Trump told them the deal failed to address Iran's ballistic missile program or its support of terror in the Middle East.
The United States' ambassador to Germany told German businesses to stop trading with Iran, and a German business association said it feared that European companies that traded with Iran would risk U.S. fines.
He said: "I have ordered Iran's atomic organisation that whenever it is needed, we will start enriching uranium more than before".
Trump spoke with French President Emmanuel Macron and Chinese leader Xi Jinping about his decision Tuesday.
Another 42 percent said the United States should remain in the deal, and the remaining 28 percent said they "don't know".
When will the sanctions restart?
The US Treasury said economic sanctions would not be reimposed on Iran immediately, but would be subject to 90-day and 180-day wind-down periods.
"At the heart of the Iran deal was a giant fiction", he said.
According to the US Treasury, sanctions related to Iran's energy, auto and financial sectors will be reimposed in three and six months.
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"The United States no longer makes empty threats", he said referencing his past promises to pull out of the deal.
He has put USA diplomacy on a collision course with some of Washington's closest allies. Germany's Foreign Minister Heiko Maas said: "We will try to keep alive this important agreement, which ensures the Middle East and the world as a whole are safer".
What reaction has there been worldwide?
The leaders of Britain, Germany and France urged the U.S.to refrain from taking action that prevents other signatories to the Iran nuclear deal from continuing to implement it. "By exiting the deal, America has officially undermined its commitment to an worldwide treaty", Rouhani said in a televised speech. Senior officials from Britain, France and Germany met in Brussels with Iran's Deputy Foreign Minister for Political Affairs, Abbas Araghchi.
"Walking away from the JCPOA turns our back on America's closest allies, and an agreement that our country's leading diplomats, scientists, and intelligence professionals negotiated".
"We can not prevent an Iranian nuclear bomb under the decaying and rotten structure of the current agreement", Trump said in remarks at the White House.
The United Nations Secretary General Antonio Guterres expressed his deep concern regarding the U.S. withdrawal from Iran's nuclear deal signed under the Obama administration in 2015.
Regev also praised Prime Minister Benjamin Netanyahu's determination in combating the Iranian nuclear threat.
Kerry also lamented Trump's decision in his own statement, saying it "weakens our security, breaks America's word, isolates us from our European allies, puts Israel at greater risk, empowers Iran's hardliners, and reduces our global leverage to address Tehran's misbehavior, while damaging the ability of future Administrations to make worldwide agreements".
Iran also agreed to modify a heavy water facility so it could not produce plutonium suitable for a bomb. "We have to double down on our sanctions, we have to get our European allies and (our allies) around the globe to put pressure on Iran to achieve what was entirely missed by the Iran deal, and that's denuclearization".
Russian Federation is one of the six signatories to the Iran nuclear deal, which has been endorsed by the U.N. Security Council.
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