There is a better answer for this question. you can do that in O(|V|^2). and with more effort you can do it in linear time.
First you find strongly connected components of G. in each strong component, you search to find this cases:
1) if there is a forward edge in this component, it is not singly connected,
2) if there is a cross edge in this component, it is not singly connected,
3) if there are two backedges in tree rooted at vertex u, to proper ancestors of u, then it is not singly connected.
this can be done in O(E). ( I think except for case 3. I couldn't implement it well!! ).
If none of cases above occurred, you should check whether there is a cross edge or a forward edge on G^SCC ( graph G, with strong components replaced with single nodes), since we don't have backedges, it can be done by repeating dfs on each vertex of this graph in O(|V|^2).