Human–robot object handover is one of the most primitive and crucial capabilities in human–robot collaboration. It is of great significance to promote robots to truly enter human production and life scenarios and serve human in numerous tasks. Remarkable progressions in the field of human– robot object handover have been made by researchers. This article reviews the recent literature on human–robot object handover. To this end, we summarize the results from multiple dimensions, from the role played by the robot (receiver or giver), to the end-effector of the robot (parallel-jaw gripper or multi-finger hand), to the robot abilities (grasp strategy or motion planning). We also implement a human–robot object handover system for anthropomorphic hand to verify human–robot object handover pipeline. This review aims to provide researchers and developers with a guideline for designing human–robot object handover methods.