Travellers on the route – which attracted 15 to 20 flights a day each way before the pandemic – won't have to quarantine and there will be no restrictions on the purpose of travel.
However, if the seven-day moving average of the daily number of unlinked local Covid-19 cases is more than five for either Singapore or Hong Kong, the scheme will be suspended, Yau and Ong said.
"The relaunch ... signifies that gradual resumption of cross-border travel is achievable through mutual collaborations among different places," said Yau.
For Hong Kong, which has banned non-residents from entering the country since March 2020, the deal with Singapore is its first bilateral resumption of travel ties with another city.