The US is the sole arms supplier to Taiwan.
"The wrong move of the US side runs counter to the consensus reached by the two presidents in and the positive development momentum of the China-US relationship," the embassy said.
Trump was critical of China during his successful 2016 presidential campaign but his meeting at his Mar-a-Lago resort in Florida with Xi raised hopes for warmer relations.
Trump later played up his personal relationship with Xi, calling him a "good man", and stressed the need for China's help in reining in a defiant North Korea's development of nuclear weapons and missiles.
China's anger over the US plan to supply Taiwan with weapons risks undermining Trump's attempts to press China to help on North Korea.
- AAP