Kim landed at Changi airport shortly before 3 p.m., according to Singapore Foreign Minister Vivian Balakrishnan.
"Welcomed Chairman Kim Jong Un, who has just arrived in Singapore," Balakrishnan tweeted along with a photo of him shaking hands with Kim in front of his airplane.
Television cameras showed a motorcade leaving the airport and a crowd waiting at the Saint Regis Hotel, where Kim is expected to stay, reports Efe news.
Kim has met with Singapore Prime Minister Lee Hsien Loong ahead of Tuesday's summit.
Kim smiled broadly in the meeting on Sunday.
Kim told Lee: "The entire world is watching the historic summit between the DPRK and the United States of America, and thanks to your sincere efforts ... we were able to complete the preparation for the historic summit."
(With inputs from agencies)