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A 3D fully coupled hydromechanical model for the simulation of fluid-driven fracture propagation through poroelastic saturated media is presented and compared to several analytical or numerical benchmarks. The hydromechanical coupling in the porous matrix is derived within the framework of the generalized Biot theory and the fluid flow in the fractures satisfies the lubrication equation. The presence and propagation of fluid-driven fractures is handled with the extended finite element method and the propagation of the fluid-driven fractures is governed by a mixed linear cohesive law relying on a stable mortar formalism. A comparison between numerical results and a semi-analytical solution for plane fluid-driven fractures in porous media assess the validity of the proposed model. Then, a procedure for the propagation of fluid-driven fractures on non predefined paths is detailed. In particular, the fracture reorientation angle is computed exclusively from cohesive quantities. Various numerical experiments are performed to study the interferences between neighboring fluid-driven fractures as well as the reorientation of fluid-driven fractures under complex stress conditions. Finally, the model is extended to discontinuity junctions and an application to arrays of vertical fractures initiated from horizontal wells is presented.