The visit on January 1 comes just a day after a fierce confrontation between President Zelensky and US President Donald Trump at the White House on February 28.
At a meeting on 1 March, the UK and Ukraine announced a loan deal worth £2.26 billion ($2.84 billion) to strengthen Ukraine's defense capabilities, the money will be returned from the profits of frozen Russian assets. This money will be used to produce weapons in Ukraine, President Zelensky wrote on social media.
When he arrived at 10 Downing Street, Mr Zelensky received applause and support from the crowd. Prime Minister Starmer welcomed the Ukrainian leader with a tight hug and brought him inside.
As you have heard the cheers outside, you have the full support of the whole UK, Prime Minister Starmer said. "We are always on the side of Ukraine, as long as possible."
President Zelensky expressed his gratitude to the British people for their support and friendship for Ukraine.
The meeting in the UK took place right after a diplomatic crisis in Washington, where President Donald Trump and Vice President J.D. Vance publicly criticized Mr. Zelensky on television right at the Trump Department for not being grateful enough for US support.
Mr Zelensky is said to have prepared to sign a deal that would allow the US to access Ukraine's mineral resources. However, after Trump's pressure to force Ukraine to negotiate peace with Russia, President Zelensky left the US without signing any documents.
Zelensky was originally scheduled to meet Prime Minister Starmer on 2 March ahead of a conference with European leaders. But after the incident in Washington, the meeting was postponed.
The two leaders had a 75-minute closed-door discussion, before Prime Minister Starmer fired President Zelensky off the bus with another hug.
According to a statement from Downing Street, The Prime Minister reaffirmed his steadfast support for Ukraine and pledged that the UK would always stand side by side with them, as long as possible.
Mr. Starmer also emphasized the goal of ending the Russia-Ukraine conflict with a just peace, ensuring long-term sovereignty and security for Ukraine.
Mr Zelensky described the meeting with Prime Minister Starmer as respectful and warm, stressing that the two sides had discussed immediate challenges, coordination with partners, concrete steps to strengthen Ukraines position and a sustainable peaceful solution.
President Zelensky is scheduled to meet with King Charles III on March 2 before attending a conference with European leaders at Lancaster House - a 200-year-old mansion near Buckingham Palace.
Canadian Prime Minister Justin Trudeau has also been in London to prepare to attend the summit with British Prime Minister Starmer and other European leaders.