Trump said Thursday he was postponing next month's trip to open the new US embassy because he did not like the location and cost of the building.
In a tweet, he criticized former US President Barack Obama for selling the previous embassy compound and building a new one.
The decision to build and relocate the US embassy in London was made during the administration of former US President George W. Bush.
But UK’s top diplomat suggested the decision to cancel the trip was prompted by the strong public and political opposition to Trump in Britain, warning that critics "seem determined to put this crucial relationship at risk."
Johnson also criticized London Mayor Sadiq Khan and the opposition Labour Party leader Jeremy Corbyn for opposing a presidential visit.
Khan had earlier tweeted that he was happy when Trump called off the proposed visit, saying the US president was not welcome in the city and “he’s finally got that message.”
The prospect of mass protests was raised last month after Corbyn urged his followers to turn out in force if Trump visited the UK.
UK Prime Minister Theresa May offered Trump a state visit to Britain one year ago, when she became the first foreign leader to visit the White House after his inauguration.
More than a million people in Britain signed a petition last year calling for the state visit to be cancelled.
Last month, Trump provoked a wave of anger and disgust from UK politicians for re-tweeting incendiary anti-Muslim videos posted by Jayda Fransen, deputy leader of the far-right group Britain First.