The exercise by naval forces of India and ASEAN members will see nine ships, six aircraft and over 1,800 armed personnel take part.
The drill is divided into two parts: one on land in Singapore, and the other in international waters.
Vietnam’s navy sent the HQ-15 Tran Hung Dao frigate to the exercise.
The first part of the drill from May 2 to 5 saw forces visit ships and perform exercises in search and rescue and humanitarian aid.
The second part from May 7 to 8 will see vessels letting helicopters take off and land on them, as well as exercises on maritime security and communications, according to Indian naval forces.
Mai Phuoc Dung, Vietnamese ambassador in Singapore, on Friday said this was the third time that Vietnam had sent a naval vessel to a joint exercise with ASEAN and India to promote cooperation and showcase the nation's external relations and national defense.
A representative of the Indian navy said the exercise would help India and ASEAN members to foster cooperation and trust when it comes to resolving maritime security challenges.