The sale comprises eight items, including technical support for early warning radar, anti-radiation missiles, torpedoes and components for SM-2 missiles. "We have also lodged solemn representations about the Taiwan related content of the bill with the relevant department of the USA government".
In a move which will spur anger in Beijing, materiel valued at $1.3 billion will be sold.
China's anger over the USA plan to supply Taiwan with weapons risks undermining Trump's attempts to press China to help on North Korea.
China views Taiwan as part of its territory under the "one-China" policy.
Donald Trump's administration has approved $1.3 billion worth of arms sales to Taiwan, a United States government official said Thursday, in a move likely to provoke the ire of Beijing which considers the island a rebel province.
"Today's notifications are consistent with the Taiwan Relations Act, and our support for Taiwan's ability to maintain a sufficient self-defense capability", a U.S. official familiar with the sale told CNN.
Last May, a US aircraft carrier was denied permission by the Chinese government to make a long-scheduled port visit in Hong Kong, prompting Washington to consider new port-call locations in Asia, including Taiwan.More news: Activists Say the Trump Administration Is Making Yellowstone Bears Vulnerable to Hunters
After Congress was notified of the deal, lawmakers now have 30 days to object. The U.S. doesn't necessarily endorse the policy, but to keep the peace, it also doesn't officially recognize Taiwan as an independent nation. The US official said the sales represented upgrades, converting existing systems from analog to digital.
The United States is the sole arms supplier to Taiwan, which China deems its own.
U.S. Senate Armed Services Committee on Wednesday voted to allow U.S. navy to call at Taiwan's ports, a major change in its policy towards Taiwan over the past 40 years, according to a Wall Street Journal report.
It marks the first arms sale to Taiwan since USA business tycoon Donald Trump took office as president of the United States on January 20.
"But we should still continue to instruct (them) and continue advancing on the right track of China-U.S. relations because this is what truly fits for both countries' long term interests", the paper quoted Cui as saying. They included two decommissioned U.S. Navy frigates, anti-tank missiles, amphibious assault vehicles and Stinger surface-to-air missiles, and was the first sale for four years.
Beijing's relationship with Taiwan has been frosty since President Tsai Ing-wen took power in Taipei past year. China has increased diplomatic pressure, cut off its contacts with the island's government and discouraged travel there by Chinese tourists.