The 12-day "Northern Thunder" manoeuvres in the kingdom's northeast included 20 nations from the Middle East, Africa and Asia, Saudi officials said.
Saudi Arabia's King Salman was joined by several foreign leaders for the final day of the exercise, which came as Riyadh vies to assert its leadership in the region.
Among them were Egypt's President Abdel Fattah al-Sisi, Sudan's Omar al-Bashir, Yemen's Abedrabbo Mansour Hadi and Pakistani Prime Minister Nawaz Sharif.
Fighter jets streaked through the sky releasing orange flares, artillery shells whistled through the air and heavy machinegun fire boomed from across the drill site, which stretched for dozens of kilometres (miles).
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The exercises took place near Hafr al-Batin city, close to the Kuwaiti and Iraq borders.
Saudi Arabia's chief of staff, General Abdulrahman al-Bunyan, commanded the exercise and called it "the largest Arab and Islamic military gathering" in the region.
Riyadh has adopted a more assertive foreign policy since Salman took the throne early last year following the death of his half-brother king Abdullah.
"Northern Thunder" also took place after tensions escalated between Sunni-dominated Saudi Arabia and its regional Shiite rival Iran, which back opposing sides in Syria and Yemen.
Riyadh cut diplomatic ties with Tehran earlier this year after mobs ransacked Saudi diplomatic missions in Iran following the execution of a prominent Saudi Shiite cleric.