Emerging after four hours of talks at Hillsborough Castle, Mr Adams said they dealt with a number of important issues including community safety, professional criminality and how the police engage with nationalists and republicans.
Mr Adams said that the PSNI has to have a responsibility in keeping Northern Ireland safe, but so does everyone else.
He said that today's meeting was part of a process of engagement and that both sides would be meeting again in the future.
The meeting follows recent criticism from both men of each other's organisations.
Last month, following the murder of former republican prisoner Frank 'Bap' McGreevy in his west Belfast constituency, Mr Adams said the PSNI did not appear to be up to the job of providing the type of civic policing communities needed.
Mr Orde responded at the monthly meeting of the Policing Board that Sinn Féin was undermining his force with groundless allegations that his officers were failing to investigate crime properly.
Tempers cooled when Mr Adams last week told a meeting of party activists that people demanding the IRA should police their neighbourhoods should accept this would never happen.
The Chief Constable described the Sinn Féin leader's comments as 'powerful', acknowledging it as an acceptance that there was only one legitimate police service in Northern Ireland.
