The funky Citroen Cactus won the Best Category A Hatchback award, while the sizzling Lexus RC clinched the Best Mid-size Coupe title.
Two Mazdas made it to the list - the Mazda 2 as the Best Supermini and the MX-5 as the Best Convertible.
It was the fifth time that Torque - a monthly motoring title published by SPH Magazines - had partnered The Straits Times to select the best new cars of the year.
The selection process pits new models against their peers. All contenders are rated for performance, handling, ride, build quality, economy/efficiency, ergonomics, styling, value for money and the elusive X factor.
Torque editor David Ting said: "Since 2011, our ST-Torque Awards have been the most respected editorial validation of new cars in Singapore. We congratulate the manufacturers and distributors of 2015's winning models.
"And we look forward to the next batch of contenders."
The trophy ceremony was held at Portico Prime, a modern European restaurant in Dempsey.
BMW Group Asia managing director Axel Pannes said: "This is an extremely proud moment for BMW, as it is the first time a car brand has won the Straits Times Car of the Year award for two consecutive years, with the i3 winning in 2014."
Audi Singapore managing director Jeff Mannering said: "When it comes to performance, handling, comfort and quality, the Q7 sets the benchmark. We are glad that the judging panel agrees."
Mr Eric Chan, managing director of Jardine Cycle & Carriage (Singapore Motor Operations), said the Sorento's win is "a testament to the steady improvements in Kia's build quality".