Donald Trump was booed as he arrived to vote in the US presidential election, joining tens of millions of Americans heading to polling stations across the country.

The Republican waved to onlookers despite being jeered outside Public School 59 in Manhattan, a short distance from Trump Tower, where he was accompanied by his wife Melania and daughter Ivanka.

His Democratic rival Hillary Clinton had earlier voted in her home town of Chappaqua, New York, along with her husband Bill.

Speaking before he cast his ballot, Mr Trump told Fox News: "I see so many dreams out there that didn't happen, that could have happened with leadership, proper leadership.

"People are hurt so badly."

Heavily armed police arrived with Mr Trump as he voted in midtown Manhattan, where some people in the crowd could be heard chanting his name

Two topless female protesters, reportedly chanting anti-Trump slogans, had been removed from the polling station shortly before he arrived.

Long queues were reported at polling stations across America with a high turnout expected, while almost 45 million people cast ballots before election day.

After voting in Chappaqua, Mrs Clinton said: "I know how much responsibility goes with this.

"So many people are counting on the outcome of this election, what it means for our country, and I will do the very best I can if I'm fortunate enough to win today."

Both candidates will be in New York on election night, with Mr Trump billing his planned event at a Hilton hotel as a "victory party".

There was a heavy police presence in the city after US authorities received intelligence of a possible pre-election al Qaida attack, and more than 5,000 police officers have been assigned to secure central Manhattan.

Mrs Clinton is aiming to become the first female president in US history, while Mr Trump hopes his pledge to Make America Great Again will win over voters in key swing states.

Victory for Mrs Clinton would see her follow husband Bill into the White House, with the former president becoming the first gentleman - or "first laddie", as some have suggested.

Mr Trump, who has been dogged by allegations of misogyny and sexual misconduct, has targeted battleground states in an effort to get the 270 electoral college votes he needs to become one of the most unlikely victors of a presidential race.

With polls suggesting Mrs Clinton had a narrow lead before election day, Donald Trump Jr said his father would concede defeat if he loses, provide the result is "legit and fair".

He told MSNBC: "All we've wanted is a fair fight.

"If he loses and it's legit and fair, and there's not obvious stuff out there - without question, yes."

Mr Trump has previously said he may not concede defeat in the election after complaining of a "rigged system", and later claimed he would accept the result if he won.

President Barack Obama, who will remain in the White House until January 20, went on Twitter to urge Americans to vote.

He tweeted: "Progress is on the ballot. Go vote - then make sure your friends, your family, and everyone you know votes too."