This is the second time the training exercise between the two countries has taken place.
About 60 personnel from each side are taking part in Cooperation 2010, which focuses on counter-terrorism security operations for major international events.
The nine-day exercise consists of seminars, planning exercises and response drills.
Speaking at the opening ceremony on Friday, Brig-Gen Teo Jing Siong from the SAF said: 'Singapore welcomes China's continued defence exchanges and interactions with our region at the bilateral and multilateral levels, which would help foster cooperation and better understanding between regional militaries.'
