The defence ministries of the two countries adopted a 'vision statement' that reaffirmed their commitment to expand defence and military cooperation.
Singh described the meeting with Gantz as "warm and productive".
"Discussed key issues pertaining to defence cooperation and global and regional scenarios during the bilateral meeting. We place great value on our strategic partnership with Israel," the former tweeted.
"Glad that both the countries adopted a 'Vison Statement' which will pave the way for defence cooperation in future. There is a broad consensus between both the countries on further strengthening the bilateral strategic and defence cooperation," he added.
According to government officials, the two ministers deliberated on the co-development and co-production of military equipment and on the growing India-Israel strategic ties.
The war in Ukraine was also discussed.
The geopolitical situation in the Gulf region was also mentioned in their discussions.
Defence Minister Gantz, before meeting his Indian counterpart, paid tributes to India's fallen soldiers at the National War Memorial.
(With inputs from PTI)