Neuropeptides are widely distributed in the central nervous system and the endocrine system. As signaling transduction molecules between cells, neuropeptides play important roles in regulating a variety of physiological processes, such as behavioral control, temperature regulation, energy balance, circadian rhythm. In this paper, we primarily review the discoveries and functions of neuropeptides that are released by neuronal elements in behavior-generating neural circuits in the central nervous system. Due to the complexity of neural circuits, it has been highly challenging to study all or most of the neuropeptides and their functions in a specific system in vertebrates.Consequently, many invertebrates have been used as model animals to discover novel neuropeptides and their receptors, and to study the functions of these neuropeptides and receptors. We describe the basic characteristics, modes of actions, and research approaches, particularly the progress of neuropeptide research in the experimentally-advantageous mollusc Aplysia. We highlight the diversity of neuropeptide/receptor signaling systems and the challenges in studying them. We believe that the findings in invertebrates will provide novel insights for the research on the functions and mechanisms of neuropeptides in vertebrates, including mammals.