US President Donald Trump has vowed that his political movement is only just beginning in a farewell video message released on his final full day in the White House.

In the 20-minute speech Trump described himself as the “only true outsider ever to win the presidency” and said that his administration had achieved more than anyone had thought possible in four years.

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Trump did not concede he had lost the election or mention President-elect Joe Biden’s name, but wished the incoming administration luck.

“This week we inaugurate a new administration and pray for its success in keeping America safe and prosperous,” Trump said. “We extend our best wishes and we also want them to have luck – a very important word.”

Ahead of Biden’s inauguration on Thursday (AEDT) Trump said he was leaving the White House after four years with a “loyal and joyful heart”.

“We did what we came here to do and so much more,” he said.

Watch the video below: