Tsai took the call with her national security council chief Joseph Wu and Taiwan Foreign Minister David Lee also on the line, Taiwan's presidential office said in a statement on Saturday.
The two also shared their views about "promoting domestic economic development and strengthening national defense so that citizens can enjoy better lives and security," the statement said, without detailing if Taiwan's defense needs were raised in the call.
US President-Elect Donald Trump said on Friday that Taiwanese President called him to congratulate him on his election win.
Trump's conversation with Tsai was the first such contact with Taiwan by a president-elect or president since President Jimmy Carter adopted a one-China policy in 1979 and is likely to infuriate Beijing.
"The President of Taiwan CALLED ME today to wish me congratulations on winning the Presidency. Thank you!" Trump said in a Twitter message.
Meanwhile the White House said there was "no change" to the United States' longstanding "one China" policy after President-elect Donald Trump spoke with Taiwanese President Tsai Ing-wen.
"We remain firmly committed to our 'one China' policy," said Ned Price, a national security spokesman for President Barack Obama. "Our fundamental interest is in peaceful and stable cross-Strait relations."