Neuroprosthetics have become a powerful toolkit for clinical interventions of various diseases that affect the central nervous or peripheral nervous systems, such as deep brain stimulation (DBS), functional electrical stimulation (FES), and vagus nerve stimulation (VNS), by electrically stimulating different neuronal structures. To prolong the lifetime of implanted devices, researchers have developed power sources with different approaches. Among them, the triboelectric nanogenerator (TENG) is the only one to achieve direct nerve stimulations, showing great potential in the realization of a self-powered neuroprosthetic system in the future. In this review, the current development and progress of the TENG-based stimulation of various kinds of nervous systems are systematically summarized. Then, based on the requirements of the neuroprosthetic system in a real application and the development of current techniques, a perspective of a more sophisticated neuroprosthetic system is proposed, which includes components of a thin-film TENG device with a biocompatible package, an amplification circuit to enhance the output, and a self-powered high-frequency switch to generate high-frequency current pulses for nerve stimulations. Then, we review and evaluate the recent development and progress of each part.