Musk said that working remotely is no longer acceptable and that staff should return to the office full-time.
The new policy was shared in emails.
One of the messages appeared to be addressed to executives, but the company did not respond to a request for comment.
Mr Musk said that people who are unwilling to abide by the new rules can end up working somewhere else.
He wrote in one of the emails that everyone at the company must spend at least 40 hours a week in the office.
Staff should not report to a remote branch office unrelated to their job duties, according to the emails.
Mr Musk said that he would review any requests for exemptions from the policy.
Mr Musk said that working in the office full-time was what the company asked of its factory employees and that in-person collaboration was critical to the firm's success.
There are companies that don't require this, but when was the last time a new product was shipped? He said in an email that it had been a while, one of the two that was leaked and shared on social media.
The most exciting and meaningful products of any company on Earth will be created byTesla. This won't happen by calling it in.
The remote work practices that exploded during the coronaviruses epidemic are being debated by many companies.
Some sectors, such as banking, said early on that they would expect staff to return to the office, while others, such as the tech industry, said they would allow remote work indefinitely. There are many places that have opted for a mix.
According to data from Kastle, which runs security card access systems for thousands of buildings across the country, the US Office Occupancy is at about 43%.
Mr Musk is a hard worker. He slept on the factory floor a few years ago during a crunch period for the company.
The more senior you are, the more visible you must be.
I lived in the factory so that those on the line could see me working. If I hadn't done that,Tesla would have gone bankrupt.
Mr Musk was previously on the record as having a dim view of remote work, writing on the social networking site earlier this year that all the Covid stay-at- home stuff has tricked people into thinking that they don't actually need to work hard. It was a rude awakening inbound.