Beginning April 26 and ending May 9, Australia joined Malaysia, Singapore, New Zealand and the UK in the exercise aimed at strengthening cooperation and improving security in the region.
Australian acting chief of joint operations major general Stuart Smith said Bersama Shield highlighted the key defence relationships Australia had in South East Asia.
"Around 300 ADF personnel have taken part," Smith said.
"All have worked seamlessly with other members of the FPDA through a variety of exercise scenarios."
Bersama Shield was conducted over four phases, culminating in a practical regional security exercise and post exercise debrief.
The FPDA was established in 1971 to contribute to regional security.
Its next planned exercise, Suman Protector, is scheduled for the second half of 2017.