In this paper, we study singularly perturbed Filippov systems. More specifically, our main question is to know how the dynamics of Filippov systems is affected by singular perturbations. We extend the Fenichel theory developed in Fenichel (J. Differ. Equ., 1979, Vol. 31, pp. 53–98) to these systems. In addition, the study of non-smooth constrained systems is considered.