In a TV address broadcast both in French and English, Mr Macron said he respected Mr Trump's decision, "but I do think it is an actual mistake both for the US and for our planet".
"Climate change is one of the major issues of our time. It is already changing our daily lives but it is global," Mr Macron said.
"Everyone is impacted and if we do nothing our children will know a world of migrations, of wars of shortage, a dangerous world, it is not the future we want for ourselves, it is not the future we want for our children, it is not the future we want for our world."
Referring to Mr Trump's idea of redrawing the 2015 accord, he said, in the French version, "we will not in any way renegotiate an agreement that is less ambitious" than the present one.
"I reaffirm clearly that the Paris Agreement remains irreversible and will be implemented not just by France but by all the other nations," Mr Macron vowed.
He added: "To all scientists, engineers, entrepreneurs, responsible citizens who were disappointed by the decision of the president the United States, I want to say that they will find in France a second homeland.
"I call on them, come and work here with us, to work together on concrete solutions for our climate, our environment."
Mr Macron said that he would move swiftly to define "a common strategy and to launch new initiatives" with France's partners.
"We will succeed because we are fully committed, because wherever we live, whoever we are, we all share the same responsibility: make our planet great again," said Mr Macron, tweaking the "Make America great again" slogan promoted by Mr Trump.
Anger and regret at Trump's decision
European leaders and green groups reacted with anger and dismay to Mr Trump's announcement that the world's second biggest carbon emitter was quitting the 2015 Paris Agreement.
But they also pledged to defend the agreement and not to backtrack in the fight against climate change.
"The decision made by US President Trump amounts to turning their backs on the wisdom of humanity. I'm very disappointed... I am angry," Japanese Environment Minister Koichi Yamamoto told a news conference in an unusually frank tone.
"While the US decision is disheartening, we remain inspired by the growing momentum around the world to combat climate change and transition to clean growth economies," said Canadian Prime Minister Justin Trudeau.
In India, one of the world's fastest growing major economies and a growing contributor to pollution, a top adviser to Prime Minister Narendra Modi vouched for intentions to switch to renewable power generation independent of the Paris accord.
Russia also voiced abiding support for the Paris accord, regardless of the US withdrawal.
A summit between Chinese Premier Li Keqiang and top European Union officials in Brussels will today end with a joint statement - the first ever issued by China and the EU - committing both sides to full implementation of the Paris accord.
European Commission President Jean-Claude Juncker said the decision was "seriously wrong".
The EU's commissioner for climate action and energy Miguel Arias Canete pledged continued "global leadership" on climate change.
"The EU deeply regrets the unilateral decision by the Trump administration," he said in a statement.
"The Paris Agreement will endure. The world can continue to count on Europe for global leadership in the fight against climate change.
"Europe will lead through ambitious climate policies and through continued support to the poor and vulnerable."
German Chancellor Angela Merkel expressed "regret" at the decision, and called for a continuation of "climate policies which preserve our world".
In Rome, Italian Prime Minister Paolo Gentiloni said his country should not retreat from its actions on climate.
"Let's not go backwards from the Paris Agreement," he said on Twitter. "Italy is committed to reducing (carbon) emissions, to renewable energy, sustainable development."
Among environment groups, Climate Action Network, said the withdrawal "signals that the Trump Administration is in total discord with both reality and the rest of the world".
"Unfortunately, the first to suffer from this injudicious decision is the American people," the group, an alliance of climate activists, said.
"This action is totally contrary to their best interests: their health, security, food supply, jobs and future."
Friends of the Earth International said "pulling out of the Paris Agreement would make the US a rogue state on climate change. The rest of the world cannot let the US drag it down."
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