Floquet Majorana fermions appear as steady states at the boundary of time-periodic topological phases of matter. In this work, we theoretically study the main features of these exotic topological phases in the periodically driven one-dimensional Kitaev model. By controlling the ac fields, we can predict topological phase transitions that should give rise to signatures of Majorana states in experiments. Moreover, the knowledge of the time dependence of these Majorana states allows one to manipulate them. Our work contains a complete analysis of the monochromatic driving in different frequency regimes.