Since we don't have access to your data or the code you used to run your models, I created my own dummy models using the mtcars dataset:
data("mtcars")
model1 <- lm(mpg ~ wt + cyl, data = mtcars)
model2 <- lm(mpg ~ wt + cyl + hp, data = mtcars)
For future reference, you'll always want to supply some of your data using, for example, dput(head(my_dataframe, 20)). You should also put up more of the code you used to get where you're at; in fact, the minimum amount of code needed to reproduce your problem. You may want to read How to Create a Great R Reproducible Example for more information; it just helps others help you.
Then I rigged up the following (clumsy) function that I think does roughly what you're looking for. In any event, it should get you started in the right direction:
get_row <- function(x, coef_names) {
    coef_mat <- coef(summary(x))
    these_coef_names <- rownames(coef_mat)
    rows <- match(coef_names, these_coef_names)
    p <- coef_mat[rows, 4]
    stars <- c("", "*", "**", "***")[(p < 0.05) + (p < 0.01) + (p < 0.001) + 1]
    coefs <- round(coef_mat[rows, 1], 3)
    output <- paste0(coefs, stars)
    output <- ifelse(grepl("NA", output), NA, output)
    return(output)
}
get_table <- function(...) {
    models <- list(...)
    if ( any(lapply(models, class) != "lm" ) ) {
        stop("This function has only been tested with lm objects.")
    }
    coef_names <- unique(unlist(sapply(models, variable.names)))
    coef_table <- t(sapply(models, get_row, coef_names))
    colnames(coef_table) <- coef_names
    return(coef_table)
}
get_table(model1, model2)
#      (Intercept) wt          cyl        hp      
# [1,] "39.686***" "-3.191***" "-1.508**" NA      
# [2,] "38.752***" "-3.167***" "-0.942"   "-0.018"