This article presents the latest progress in research on tire–pavement contact behavior. Firstly, the tire–pavement contact characteristics and their influencing factors are summarized. Then, the measurement methods and theoretical research on tire–pavement contact behavior are reviewed, and the advantages and shortcomings of different methods are compared and analyzed. Finally, analysis in the field of pavement engineering is summarized based on contact behavior. This article suggests a few key research directions: Tire–pavement contact behavior is influenced by multiple factors; therefore, multi-physical field-coupling analyses need to be carried out. Tire–pavement contact tests are mostly static and non-standardized, and it is a future trend to develop high-precision, low-cost, and standardized instruments that can measure dynamic contact. Theoretical research models rarely involve environmental factors; a contact model of the tire, pavement, and environment needs to be constructed that can truly describe the contact process. There is a relationship between contact characteristics and pavement performance; pavement performance evaluation indexes need to be established based on tire–pavement contact characteristics in the future.