The development of cost-effective, efficient and stable electrocatalysts towards oxygen reduction reaction (ORR) has been an aim to overcome the bottleneck of widespread application of fuel cells and rechargeable metal-air batteries. Unique physicochemical properties of heteroatom-doped graphene open up a brand-new avenue for design and application of metal-free electrocatalysts in these electrochemical devices. Given the flourishing research of graphene and electrochemical energy storage, we critically summarize recent progress in the design, synthesis and application of various heteroatom (N, S, P, B, etc)-doped graphene materials as the electrocatalysts towards ORR. The distinctive properties resulting from various dopants and the resultant electrocatalytic activity are highlighted to gain insights into the mechanism of heteroatom-doped graphene for ORR. We conclude this article with some future trends and opportunities of developing heteroatom-doped-graphene-based electrocatalysts in the application of the ORR-related devices.