According to a report by Xinhua news agency, the visiting taskforce is comprised of supply ship Taihu, guided missile destroyer Qingdao and frigate Daqing.
A welcome ceremony was held by the South African Navy at 10 a.m. local time at the naval base near Cape Town.
During the visit, the Chinese navy will conduct friendly exchanges with the South Africa Navy, including mutual visits and open day for public visit. After the port call, the taskforce will conduct joint exercise with the South Africa Navy in South Africa's coastal waters.
South Africa is the first leg of the taskforce's visit after it completed a four-month escort mission for merchant ships in the Gulf of Aden and waters off Somali coast.
Authorized by the United Nations, the Chinese navy has started dispatching warships to the region for escort missions since December 2008.
The visit also marked the fourth of its kind made to South Africa by Chinese Navy ships. As the country's second largest city, Cape Town is where South Africa's parliament is located. It is also an important meeting point for international shipping routes.