This paper describes precision measurements of the transverse momentum $p_\mathrm {T}^{\ell \ell }$ ($\ell =e,\mu $) and of the angular variable $\phi ^{*}_{\eta }$ distributions of Drell–Yan lepton pairs in a mass range of 66–116 GeV. The analysis uses data from 36.1 fb$^{-1}$ of proton–proton collisions at a centre-of-mass energy of $\sqrt{s}=13\,$TeV collected by the ATLAS experiment at the LHC in 2015 and 2016. Measurements in electron-pair and muon-pair final states are performed in the same fiducial volumes, corrected for detector effects, and combined. Compared to previous measurements in proton–proton collisions at $\sqrt{s}=7$ and $8\,$TeV, these new measurements probe perturbative QCD at a higher centre-of-mass energy with a different composition of initial states. They reach a precision of 0.2$\%$ for the normalized spectra at low values of $p_\mathrm {T}^{\ell \ell }$. The data are compared with different QCD predictions, where it is found that predictions based on resummation approaches can describe the full spectrum within uncertainties.