The plan, effective Nov 29, expands an already announced move to start a travel lane for flights between Changi Airport and Kuala Lumpur International Airport from next week.
The land travel lane in the first phase will apply to citizens, permanent residents or long-term pass holders of the country they are entering, to allow people to visit families on the other side of the border, the office of Singapore's prime minister said in a statement.
The lane will be progressively expanded.
Malaysia announced the creation of the land border travel lane separately on Wednesday.
Singapore, with a population of 5.45 million, relies heavily on Malaysians living in the southern state of Johor to staff businesses ranging from restaurants to semiconductor manufacturing.
Many Malaysians used to commute daily from across the border prior to the pandemic.
Yesterday morning (6/12) three residents of Tseng Tau Tsuen, Sai Kung, woke up to find that they had been burgled during the night.