Mr Yee, 18, has been detained in the US since he arrived at Chicago's O'Hare airport in December.
He came into the country on a tourist visa but told immigration officials he was seeking refuge.
Following Friday's ruling, he is expected to be released shortly.
The US Department of Homeland Security opposed Mr Yee's asylum application, but the immigration judge ruled in the teenager's favour.
Judge Samuel Cole released a 13-page decision, which said Mr Yee faced persecution in Singapore for his political opinions.
"Yee has met his burden of showing that he suffered past persecution on account of his political opinion and has a well-founded fear of future persecution in Singapore," Judge Coel ruled.
"Accordingly, this court grants his application for asylum."
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