Turbulent motions of liquid metal in Earth's outer core generate the geomagnetic field and are responsible for its slow evolution. Electromagnetic, thermal, gravitational, and mechanical processes couple these outer core motions to the inner core and mantle. Twenty years of magnetic field observations from low-earth-orbit satellites, together with advanced numerical simulations, indicate core motions are today dominated by a planetary-scale gyre, a jet in the northern polar region, and waves involving the magnetic field. Here, we review this emerging picture of core dynamics. The planetary gyre is anticyclonic, offset from the rotation axis towards low latitudes under the Atlantic hemisphere, and involves flow speeds of 15-50 km yr −1 that are fastest in a focused westward jet under the Bering strait. A Quasi-Geostrophic, Magnetic-Archimedes-Coriolis, force balance likely governs the evolution of such flows on decadal to centennial timescales. Waves in the core flow with periods ∼ 7 yrs have been detected at low latitudes using satellite observations, while numerical simulations and theoretical analysis suggest they involve an interplay between Magnetic, Coriolis and inertial effects. These core gyres, jets and waves underlie changes in Earth's magnetic field, and influence other geophysical processes such as Earth's rotation, on interannual to centennial timescales.