Chinese cartography began in the 5th century BC during the Warring States period when cartographers started to make maps of the Earth's surface. Its scope extended beyond China's borders with the expansion of the Chinese Empire under the Han dynasty. By the 11th century during the Song dynasty highly-accurate maps drawn on grids were produced. During the 15th century, the Ming dynasty admiral Zheng He went on a series of voyages to the South China Sea, Indian Ocean, and beyond and maps for areas outside of China were produced, although world maps covering territories known to the Chinese outside of China existed as early as the Tang dynasty.

The study of geography in China begins in the Warring States period (5th century BC). It expands its scope beyond the Chinese homeland with the growth of the Chinese Empire under the Han dynasty and enters a golden age with the Han dynasty invention of the compass as one of the Four Great Inventions. The compass was then used from the 11th century during the Song dynasty, Yuan dynasty, Ming dynasty, and Qing dynasty in the study of geography. One of the most famous explorers in Chinese history was the 15th century admiral Zheng He, known for the Chinese exploration of the Pacific and his treasure voyages.

There is an ancient Chinese legend called He Bo Xian Tu (河伯獻圖), which roughly means "the River Deity presenting a map". During the mythical Xia dynasty, a river deity gave Yu the Great a stone with a flood map etched on its surface. Yu the Great used the map to help him in taming the flood that threatened to destroy rural agriculture.

In general, the development of early Chinese cartography experienced three phrases: primitive map, classical map, and survey map. The primitive maps were simple maps, still steeped in myth and legend. It was not until the Han dynasty that classical maps began to emerge.

The earliest reference to a map in Chinese history can be found in Volume 86 of the historical text Records of the Grand Historian (Shi Ji). This volume recorded an incident in 227 BC during the late Warring States period in which a map is mentioned. Crown Prince Dan of the Yan state sent Jing Ke to assassinate the King of the Qin state, so as to prevent Qin from conquering Yan. Jing Ke pretended to be an emissary from Yan, and said he wanted to present the King of Qin with a map of Dukang, a fertile region in Yan which would be ceded to Qin in exchange for peace between the two states. The map, which was rolled up and held in a case, had a poison-coated dagger hidden in it. As Jing Ke was showing the King the map, he slowly unrolled the map until the dagger was revealed, and then seized it and tried to stab the King. The King managed to escape unharmed and Jing Ke was killed in his failed assassination attempt. From then on, maps are frequently mentioned in Chinese historical texts.

In 1986, seven maps were found in Tomb 1, dating to the Qin state of the Warring States period, at Fangmatan in Gansu Province. The maps were drawn in black ink on four rectangular pieces of pine wood, 26.7 cm in length and between 15 and 18.1 cm in width, and depict the tributary river systems of the Jialing River in Sichuan Province. The areas covered by the seven maps overlap, but in total they cover 107 × 68 km in area.

In addition to the seven maps on wooden blocks found at Tomb 1 of Fangmatan, a fragment of a paper map (5.6 × 2.6 cm) was found on the chest of the occupant of Tomb 5 of Fangmatan in 1986. This tomb is dated to the early Western Han dynasty, so the map dates to the early 2nd century BC. The map shows topographic features such as mountains, waterways and roads, and is believed to cover the Qin state of the Warring States period.

Concrete evidence of the existence of maps in ancient China can be found in the Han dynasty (206 BC – 220 AD). The three silk maps found at the Mawangdui tumulus in Changsha, Hunan Province are traced back to the 2nd century BC. The three maps are a topographic map of the Changsha region, a military map of southern Changsha, and a prefecture map.