Senior Staff Sergeant Iskandar Rahmat, 34, was accused of killing car workshop owner Tan Boon Sin, 67, and his son Tan Chee Heong, 42, last Wednesday.
Tan was found fatally slashed at his home, while his son's body was dragged under one of the family's cars for nearly a kilometre, leaving a trail of blood on a busy road in the suburban town of Kovan.
Iskandar, once portrayed as a model officer on the Singapore Police Force website, abandoned the car and fled to Malaysia by scooter, but was quickly arrested from the southern state of Johor Bahru and was repatriated to the city-state.
There was no immediate indication of a motive for the murders but local reports said that Iskandar had attended to a theft complaint filed by the elder Tan in November last year, after which the sergeant was reassigned to another position.
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"Our police force and every policeman and policewoman is tarred by the actions of this single officer," Police Commissioner Ng Joo Hee said in a statement.
Iskandar next court appearance is on July 22.