Abstract: This article reviewed the research progress in the pultrusion process and technology of fiber-reinforced thermosetting and thermoplastic composites, and also introduced the types of polymers suitable for pultrusion. The research progress in theoretical modeling and process optimization of pultrusion with mathematical simulation was discussed in detail. In addition, several novel pultrusion technologies, including braiding-winding-pultrusion and bending pultrusion, were introduced. With the advantages of reusability and recyclability, the continuous fiber-reinforced thermoplastic composites exhibit good development prospect in the field of pultrusion.