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Microrobots are motile microsystems constructed using physical, chemical and biological components for operations with respect to definite application. In the present review, we have discussed the various aspects of bio-microrobots, their history and design. While designing a microrobot, two important parameters (and their varities)- actuation and sensing affect the different micromanipulation techniques to be employed (Magnetic, Optical, Electric, fluidic or acoustic). The controlling and actuation system (Vision-based or Force-sensing) selected for the specific application can dictate the fabrication type to be used for manufacture of the microrobot to be used. The controlling parameters are further influenced by the type of propulsion systems, Powering system, and mobility in complex environment and applicability of the microrobot. Presently, the microrobotics has applications in biomedical and environmental engineering. In this review, we have analyzed various aspects of bio-microrobot design, fabrication and applications which can help the future works in nanosciences and bio-based microrobotics.