Cysteinyl‐tRNA synthetase (CysRS) catalyzes the aminoacylation reaction of cysteine to its cognate tRNACys in the first step of protein translation. It is found that CysRS is different from other aaRSs as it transfers cysteine without the need for an editing reaction, which is not applicable in the case of serine despite the similarity in their structures. Surprisingly, the reasons why CysRS has high amino acid specificity are not clear yet. In this research, the binding configurations of Cys‐AMP and its near‐cognate amino acid Ser‐AMP with CysRS are compared by Molecular Dynamics (MD). The results reveal that CysRS screens the substrate Cys‐AMP to a certain extent in the process of combination and recognition, thus providing a guarantee for the high selectivity of the next reaction. While Ser‐AMP is in a folded state in CysRS. In the meanwhile, the interaction between Cys‐AMP and Zn963 in CysRS is much stronger than Ser‐AMP. The substrate‐assisted aminoacylation mechanism in CysRS is also explored by Quantum Mechanics/Molecular Mechanics (QM/MM) modeling. According to the QM/MM potential energies, the energy barrier of TSCys‐AMP is 91.75 kJ/mol, while that of TSSer‐AMP is close to 150 kJ/mol. Based on thermochemistry calculations, it is found that the product of Cys‐AMP is more stable than the reactant. In contrast, Ser‐AMP has a reactant that is more stable than its product. As a result, it reflects that the specificity of CysRS originates from both the kinetic and thermodynamical perspectives of the reaction. Our investigations demonstrate comprehensively on how CysRS recognizes and catalyzes the substrate Cys‐AMP, hoping to provide some guidance for researchers in this area.