Outer boundary conditions for strongly and symmetric hyperbolic formulations of 3D Einstein's field equations with a live gauge condition are discussed. The boundary conditions have the property that they ensure constraint propagation and control in a sense made precise in this article the physical degrees of freedom at the boundary. We use Fourier–Laplace transformation techniques to find necessary conditions for the well posedness of the resulting initial-boundary value problem and integrate the resulting three-dimensional nonlinear equations using a finite-differencing code. We obtain a set of constraint-preserving boundary conditions which pass a robust numerical stability test. We explicitly compare these new boundary conditions to standard, maximally dissipative ones through Brill wave evolutions. Our numerical results explicitly show that in the latter case the constraint variables, describing the violation of the constraints, do not converge to zero when resolution is increased while for the new boundary conditions, the constraint variables do decrease as resolution is increased. As an application, we inject pulses of "gravitational radiation" through the boundaries of an initially flat spacetime domain, with enough amplitude to generate strong fields and induce large curvature scalars, showing that our boundary conditions are robust enough to handle nonlinear dynamics. We expect our boundary conditions to be useful for improving the accuracy and stability of current binary black hole and binary neutron star simulations, for a successful implementation of characteristic or perturbative matching techniques, and other applications. We also discuss limitations of our approach and possible future directions. [ABSTRACT FROM AUTHOR]