Sitting presidents, no.

Former presidents and other leaders, yes.

In early 1994, North Korea announced it was pulling out of the Non-proliferation treaty. Tensions rose and President Clinton was considering military action to stop North Korea. Instead, Jimmy Carter went to North Korea to work out a deal, the Agreed Framework. During this trip, Carter met Kim Il-sung, probably one of the last world leaders to see Kim, who died only a few weeks later.

How did the meeting go? Eh, depends on your views. Former Defense Secretary William Perry said that we were on the brink of war with North Korea with Pentagon estimates of up to 1 million dead. Jimmy Carter was able to avert THAT disaster, but if you keep up with the news, you can see how well the Agreed Framework worked.

Bill Clinton met with Kim Jong-il in 2009, well after he left office. IIRC, this photo was forced. Clinton had gone to North Korea to negotiate the release of two (Korean)American reporters who had been detained and the North Koreans said, "Hey, let's take some photos," an idea that Clinton wasn't too happy about. You can how happy he was with that big smile he's got.

The highest contact I've found between leaders of both countries that's in a public setting would be near the end of Clinton's time in office. He met with Jo Myong-rok in October of 2000. This photo caption says that it's the first contact between an American President and a leader from the North. This photo, from the same meeting shows a North Korean delegation meeting with Defense Secretary William Cohen. This photo shows Kim Ok at the far end of the table, Kim Jong-il's last wife/domestic partner/secretary.

Beyond Presidents and Defense Secretaries, former New Mexico Governor Bill Richardson made numerous trips on behalf of the Clinton administration to North Korea.