Gear fault diagnosis (GFD) based on vibration signals is a popular research topic in industry and academia. This paper provides a comprehensive summary and systematic review of vibration signal-based GFD methods in recent years, thereby providing insights for relevant researchers. The authors first introduce the common gear faults and their vibration signal characteristics. The authors overview and compare the common feature extraction methods, such as adaptive mode decomposition, deconvolution, mathematical morphological filtering, and entropy. For each method, this paper introduces its idea, analyses its advantages and disadvantages, and reviews its application in GFD. Then the authors present machine learning-based methods for gear fault recognition and emphasise deep learning-based methods. Moreover, the authors compare different fault recognition methods. Finally, the authors discuss the challenges and opportunities towards data-driven GFD.

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