Singh expressed his appreciation for the warmth of his reception and the hospitality extended by the Chinese government, said a joint statement issued after his talks with the Chinese leaders.
Singh invited Premier Li to visit India at a time of mutual convenience, the joint statement said.
"I am delighted to be in Beijing once again at the invitation of Premier Li. I am touched by the warm welcome and the generous hospitality of the government and the people of China.
The exchange of visits by the prime ministers within the same calendar year was the first since 1954.
Li had visited India in May.