We study a 2D continuum model of electronic transport in twisted bilayer graphene (TBG) at commensurate angles. We use two honeycomb potentials with the symmetries of graphene, either sharing a common origin (AA stacking) or shifted by a half-lattice spacing (AB stacking), and twisted relative to each other. While the electronic properties of TBG are most commonly studied via the approximate Bistritzer-MacDonald (BM) model, our approach studies the exact continuum Schr\"{o}dinger operator without these approximations. Our results hold for a wide class of potentials in both stacking types. We describe the exact angles for which the two twisted lattices are commensurate and prove the existence of Dirac cones at the vertices of the Brillouin zone for such angles. Additionally, we establish quantitative bounds showing that, for small potentials, the slope of the Dirac cones flattens at commensurate angles near incommensurate angles. This work is the first to rigorously establish the existence of Dirac cones for twisted bilayer graphene in the continuum setting, without the BM approximations.