Australian Defence Secretary Dennis Richardson called on Minister for Defence Dr Ng Eng Hen on Monday morning.
Mr Richardson, who started in the role in October last year, is in Singapore for a two-day introductory visit which ends on Monday. He had called on permanent secretary for defence Chiang Chie Foo on Sunday.
The Defence Ministry in a statement on Monday said the visit underscores the "close and long-standing" defence ties between the two countries. The ministry added that the armed forces of both nations have had a "long history of military cooperation", such as an ongoing cooperation in Afghanistan.
Mr Richardson, who was formerly Australia's Secretary for Foreign Affairs and Trade, will also visit Sembawang Air Base and the Changi Command and Control Centre on Monday.