Abstract: As an integration product of new intelligent ammunition and unmanned aerial vehicle (UAV) technology, loitering munitions are reshaping the form of modern warfare. In this paper the current development status of loitering munitions both at home and abroad is reviewed. Typical combat modes and application scenarios for loitering munitions are summarized. Design elements are discussed from multiple aspects including classification of loitering munitions, structural composition, main development content and core elements. Development directions are pointed out for key technological bottlenecks such as platform design, precision strike, integrated launch, anti-jamming communication, swarm coordination, etc. This study provides a reference for future development and application of loitering munitions.