The president signed the measure at the White House in private. Journalists were not present to witness the signing.
The Republican-led Senate narrowly voted to repeal the Consumer Financial Protection Bureau's regulation, which the banking industry had been seeking to roll back.
The Trump administration and Republicans have pushed to undo regulations they say harm the free market and lead to frivolous lawsuits.
Democrats contend the rule would have given consumers more leverage to stop companies from financial wrongdoing.
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The repeal means bank customers will still be subject to what are known as mandatory arbitration clauses. These clauses are buried in the fine print of nearly every checking account, credit card, payday loan, auto loan or other financial services contract and require customers to use arbitration to resolve any dispute with their bank. They effectively waive the customer's right to sue.
The overturning of the rule marks a notable victory for Wall Street. After the financial crisis, Congress and the Obama administration installed tough new regulations on how banks operated and fined them tens of billions of dollars for the damage they caused to the housing market.