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In this paper and its sequel, we study non-equilibrium dynamics in driven 1+1D conformal field theories (CFTs) with periodic, quasi-periodic, and random driving. We study a soluble family of drives in which the Hamiltonian only involves the energy-momentum density spatially modulated at a single wavelength. The resulting time evolution is then captured by a Möbius coordinate transformation. In this Part I, we establish the general framework and focus on the first two classes. In periodically driven CFTs, we generalize earlier work and study the generic features of entanglement/energy evolution in different phases, i.e. the heating, non-heating phases and the phase transition between them. In quasi-periodically driven CFTs, we mainly focus on the case of driving with a Fibonacci sequence. We find that (i) the non-heating phases form a Cantor set of measure zero; (ii) in the heating phase, the Lyapunov exponents (which characterize the growth rate of the entanglement entropy and energy) exhibit self-similarity, and can be arbitrarily small; (iii) the heating phase exhibits periodicity in the location of spatial structures at the Fibonacci times; (iv) one can find exactly the non-heating fixed point, where the entanglement entropy/energy oscillate at the Fibonacci numbers, but grow logarithmically/polynomially at the non-Fibonacci numbers; (v) for certain choices of driving Hamiltonians, the non-heating phases of the Fibonacci driving CFT can be mapped to the energy spectrum of electrons propagating in a Fibonacci quasi-crystal. In addition, another quasi-periodically driven CFT with an Aubry-André like sequence is also studied. We compare the CFT results to lattice calculations and find remarkable agreement.