Nowadays, the requirements of the software are changing rapidly in order to meet clients’ needs, which increases the complexity of developing software. Thus, Agile requirements engineering has arisen and it focuses on how to deal with the increasing changes in software requirements by gathering requirements iteratively and collaboratively with the clients. Thus, the clients’ satisfaction could be met more easily. On the other side, researchers have tried to improve agile requirements engineering from time to time, however, there are still limitations and challenges faced, which need more attention. Thus, this study is conducted by performing a systematic literature review technique to investigate the challenges, critical success factors, and the topics that need more attention in the agile requirements engineering field. In the beginning, the study obtained 178 articles related to this topic which were published from 2002 until 2019. After a thorough analysis of the articles, the study reviewed the ten (10) challenges and the proposed solutions that mentioned in the previous studies. Besides that, the study found six (6) critical success factors, and highlighted four (4) topics that need more attention from the researchers in future studies in agile requirements engineering.