Democratically governed Taiwan, which China views as its own territory, had been on alert for more war games since Thursday's national day speech by President Lai Ching-te.
Beijing condemned the address after Lai said China had no right to represent Taiwan even as he offered to co-operate with Beijing.
The Chinese military in a statement said the "Joint Sword-2024B" drills were taking place in the Taiwan Strait and areas to the north, south and east of Taiwan.
"The drill also serves as a stern warning to the separatist acts of Taiwan independence forces," it said.
"It is a legitimate and necessary operation for safeguarding state sovereignty and national unity."
The command published a map showing nine areas around Taiwan where the drills would take place - two on the island's east coast, three on the west coast, one to the north and three around Taiwan-controlled islands next to the Chinese coast.
Taiwanese President Lai Ching-te's national day speech on Thursday drew condemnation from China. (AP PHOTO)
The command did not state when the drills would end.
However, the military did not announce any live-fire exercises or any no-fly areas. In 2022, shortly after then-US House Speaker Nancy Pelosi visited Taiwan, China fired missiles over the island.
In a major move, China's coast guard circled Taiwan and staged "law enforcement" patrols close to Taiwan's offshore islands of Matsu and Dongyin, entering the "restricted waters" of Matsu island for the first time to "completely tear up" boundaries set by Taiwan authorities, according to state broadcaster CCTV.
Lai later condemned the exercises and said they are "intended to undermine regional peace and stability and continue to coerce neighbouring countries by force."
National Security Council Secretary-General Joseph Wu said China had ignored Lai's message of goodwill.
"Using military force to threaten other countries goes against the basic spirit of the United Nations charter to peacefully resolve disputes," he told reporters.
Taiwan's defence ministry said it had dispatched its own forces.
Lai's national day speech highlighted the current state of cross-strait relations and a firm will to safeguard peace and stability, and advocated future co-operation in coping with challenges like climate change, the ministry added.
"The Chinese communists' claim of 'picking quarrels and provoking trouble' is a complete departure from the truth," it said.
Chinese state media has since Thursday run a series of stories and commentaries denouncing Lai's speech, and on Sunday its military released a video saying it was "prepared for battle".
The People's Liberation Army's daily newspaper wrote on Monday that "those who play with fire get burned!".
China held the "Joint Sword-2024A" drills for two days around Taiwan in May shortly after Lai took office, saying they were "punishment" for separatist content in his inauguration speech.
Lai has repeatedly offered talks with China but has been rebuffed. He says only Taiwan's people can decide their future and rejects Beijing's sovereignty claims.
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