Czechoslovakia maintained consular relations already in the interwar period with the British Crown Colony of Singapore. The Czechoslovak consulate in Singapore operated from 1935 to 1938. Singapore was occupied by the Japanese from 1942 to 1945 and became a British colony again after World War II.

After Singapore became a member of the Federation of Malaya in 1963, the government showed a desire to break away from its political and economic dependence on the UK and the USA and was interested in establishing contacts with various states. Numerous trade delegations were exchanged between the Czechoslovakia and Singapore during those years, exploring the possibilities of expanding trade and political relations.

On 23 November 1973, during his visit to Singapore, Mr. Chňoupek, the Czechoslovak Minister of Foreign Affairs, and his Singaporean counterpart Mr. Rajaratnam signed a Czechoslovak-Singaporean communiqué on the establishment of diplomatic relations at the level of an embassy. Czechoslovakia accredited an ambassador to the Republic of Singapore based in Rangoon (Burma). Since 1982, a Czechoslovak ambassador based in Jakarta (Indonesia) was accredited in Singapore.

Singapore recognised the newly independent Czech Republic in 1993, with its representation from Jakarta until 1996 when there was established a Czech Embassy in Singapore, headed at the level of chargé d'affaires. In 2008, the Czech Foreign Office in Singapore was closed unfortunately. The relations were again maintained from the Czech Embassy in Jakarta until 2020, with the help of the honorary consulate of the Czech Republic headed by Mr. Kwee Liong Seen. During the 2017 and 2019 high-level visits, the issue of the reopening of the Czech Embassy in Singapore was raised, which eventually took place between 2020 and 2021. As per diplomatic practice, the honorary consulate was closed in 2020 in conjunction with the aforementioned formal opening of the Czech Embassy in Singapore. 

A CzechTrade foreign office was established in Singapore in 2015.

The Honorary Consulate General of Singapore, headed by Mr Martin Plachý, is located in Opletalova Street in Prague.