The involvement of the military in disaster, emergency, and crisis response operations has been increasing, as in addition to these situations presenting complexities similar to those faced on the battlefield, they have the infrastructure and training necessary to provide humanitarian assistance. The Command and Control (C2) exercised by the military is considered essential given the complexity of carrying out these operations. The scientific literature on C2 is, for the most part, registered as military doctrine, based on empiricism. This study aims to understand how C2 is performed by the military in two humanitarian operations triggered by the Ministry of Defense. And with this purpose, a literature review is carried out on essential elements of C2, such as its definition, actions, functions, levels, means, and assets for its realization and agents involved. From 22 documents resulting from the literature review, a taxonomy, a proposed definition of C2, and a framework that aims to support academics, professionals in the field, and the Armed Forces are presented. Subsequently, to verify the feasibility of the elements identified in the literature and their application in these operations, two case studies are proposed: one on Operação Acolhida, which offers emergency assistance to Venezuelan immigrants and refugees, and another on Operação Carro-pipa, which includes actions for the distribution of drinking water to rural populations affected by drought and dry season. As a result, this research identifies that the manner C2 is performed by the military depends on the type of disaster and the level at which C2 is being exercised, in addition to contributing academically by proposing a definition of C2, a taxonomy, and a framework about of the C2 exercised by the military in disaster, emergency, and crisis response operations.