The United States accused Beijing ofprovocative and irresponsible actions after Taiwan said China practiced an attack on the island.
Taiwan deployed planes and ships on Sunday to respond to the Chinese drills.
A US delegation led by Nancy Pelosi went to Taiwan.
The visit is seen by China as a challenge to its claim of sovereignty over Taiwan.
Some Chinese ships and planes crossed the median line in the Taiwan Strait over the weekend, according to Taiwan's defence ministry.
The Taiwan military said it responded appropriately to the live-fire exercises, which it described as a simulation of an attack on the island.
The premier appealed for restraint from the Chinese side and accused them of being arrogant in their use of the exercises.
Beijing has not commented on the latest exercises, but the four-day series of military drills in the air and seas around Taiwan are expected to end on Sunday.
The US has accused China of ramping up tensions.
The activities are part of China's effort to change the status quo. A White House spokesman said that they were provocative, irresponsible and raised the risk of miscalculation.
Maintaining peace and stability across the Taiwan Strait is what the world expects and they are at odds with that.
Peace and stability in the Taiwan Strait were threatened by Ms Pelosi's visit.
Taiwan will one day be under Beijing's control. Taiwan sees itself as different from the mainland.
China is enraged by any hint of recognition of this. Ms Pelosi and her family have been placed under sanctions.
Climate change, military talks, and efforts to combat international crime are some of the areas in which Beijing and the US have stopped co-operating.
The US Secretary of State accused China of blocking communication channels with the US.
Despite warnings from Beijing, Ms Pelosi arrived in Taiwan on Tuesday, making her the highest-ranking US politician to visit the island in 25 years.
The world faces a choice between democracy and autocracy according to Ms Pelosi.
Why do China and Taiwan not have good relationships? China wants the self-ruled island to be unified with the mainland by force if necessary.
Taiwan is governed by a government. About 300,000 active troops are in the island's armed forces.
Is Taiwan recognised by anyone? Some countries don't recognize Taiwan. The Chinese government is recognised by most people. There is a law in the US that requires it to give Taiwan the means to defend itself.
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