Malaysian Prime Minister Ismail Sabri Yaakob said the border reopening was part of the transition into the "endemic" phase of living with the virus, Strait Times reported.
Visitors will be required to undergo pre-departure tests using the RT-PCR method and upon-arrival tests (RTK-Antigen under professional supervision) 24 hours after arriving.
Travelers who wish to enter Malaysia only need to download the MySejahtera tracking application and fill out a pre-departure travel form.
Malaysia shut its borders two years ago on March 18, 2020 as the coronavirus pandemic spread rapidly around the world.
Earlier, Southeast Asian countries like Cambodia, Laos, the Philippines and Thailand had reopened but with certain entry requirements for Vietnamese tourists.
From March 15, Vietnam will fully reopen inbound tourism, with foreign tourists allowed to visit the country without booking tour packages.