East Asia's complex tectonic history makes it a unique place for plate-tectonic studies. While the crust and mantle structures beneath this region have been extensively investigated by receiver function and many different kinds of tomography studies, discrepancies among seismic velocity models have complicated our understanding of East Asia's tectonic evolution. Here, we use full-waveform adjoint tomography to study the seismic P- and S-wave velocity structures of the crust and mantle beneath East Asia. We use a large waveform dataset from 141 earthquakes recorded by 4640 broadband seismic stations. Our inversion optimizes the normalized correlation coefficient between synthetic and observed seismograms within individual time windows of different seismic phases, from P arrivals to the slowest surface waves. This approach allows us to fit regional multipathed waveforms and provides very well-resolved seismic P- and S-wave velocity structures from the crust to depths of about 800 km. Furthermore, we are able to obtain this resolution over most of East Asia allowing us to compare the amplitude and shapes of anomalies across the entire region. The observed structures in our new full-waveform tomography model (FWEA23) correlate well with tectonic units, revealing sharp contrasts across tectonic boundaries. Our model reveals narrow and strong linear fast anomalies associated with subduction zones in the western Pacific and Southeast Asia. Compared to these oceanic slabs, we observe different and more complicated mantle structures beneath the India-Asia continental collision zone. While our model spans a wide region in East Asia, we focus our interpretations on the seismic velocity anomalies beneath Tibet and surrounding regions, as our model provides significant implications for India-Asia continental collision tectonics. Our analysis suggests that cratonic Indian lithosphere collided with Eurasian plate around 25–20 Ma, subsequently underthrusting beneath Tibet horizontally with little deformation. This resulted in thickening, destabilization, and delamination of the rheologically weaker and less buoyant mantle lithosphere beneath north-central Tibet. Moreover, our model reveals isolated lithospheric fragments within the mantle transition zone and lower mantle beneath southern Tibet and northern India, suggesting that non-cratonic Greater India continental lithosphere has broken off and sunk into the deeper mantle. The lack of continuity among these lithospheric fragments suggests a convective destabilization process, distinct from typical oceanic plate subduction. Our results emphasize the important role of rheological properties of continental lithospheres in shaping the dynamics of continental collision.