There are long distance buses from all major cities and towns in Peninsular Malaysia to Singapore. For all buses, upon arrival at the immigration points of each country, you are required to disembark from the bus with all your luggage, pass through passport control, then return to your bus once again. Do not lose your ticket in the process.
(Once, the bus left without me while I was going through the Malaysian Immigration point. I was to hitch a ride across the Causeway to Singapore. Thankfully, the bus driver realised that I was not on board the bus and was waiting at the Singapore immigration point. Needless to say, I was furious.)
The Malaysia-based Causeway Link buses ply a route between Johor Bahru and Singapore. There are three routes: CW1 between Larkin via Kotaraya in Johor Bahru to Kranji MRT Station in Singapore (fare: S$1.30); CW2 between Larkin and Queen Street in Singapore (S$3.20) and CW3 between Bukit Indah via the Second Link to Jurong East MRT Station (S$4.00).
The Singapore-based SBS and SMRT buses also cross between Malaysia and Singapore. SBS 170 (red plate) goes from Larkin to Queen Street via Kranji (S$1.70); SBS 170 (blue plate) goes from Kotaraya to Kranji MRT Station (S$1.10); SBS 160 goes from Kotaraya to Jurong East MRT Station via Kranji (S$1.60); SMRT 950 goes from Kotaraya to Woodlands MRT Station via Marsiling (S$1.30). And then there's the Singapore-Johor Express plying the route from Larkin to Queen Street (S$2.40).
From Kuala Lumpur
Buses leave the Southern Integrated Terminal at Bandar Tasik Selatan. Among the buses operating from here include Transnational (Tel: 60-3-2070 3300) to Lavender Street in Singapore and Konsortium Bas Ekspres Semenanjung (Tel: 60-3-2070 1321) for buses going to Golden Mile Complex in Singapore. Journey takes about 5 hours and costs roughly RM30 one way.
From Penang
Buses leave the Sungai Nibong Express Bus Terminal. There are several bus operators there with trips into Singapore, mostly arriving at Golden Mile Complex in Singapore. The journey takes about 10 hours and costs roughly RM60 one way.
From Ipoh
Malaysia bus operator "Five Stars Express" and Singapore bus operator "Grassland Express" have services from Jalan Bendahara in Ipoh to Golden Mile Complex in downtown Singapore and to Boon Lay in Jurong, on the western part of Singapore. The journey takes about seven to eight hours and costs about RM50.
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