Veterinary drug residues of common food (milk, meat) have posed serious threats to the environment and human health, making the quality and safety of agricultural, livestock, and aquatic products increasingly prominent. With the widespread use of veterinary drugs and the requirements for food safety, it has become urgent to detect veterinary drug residues in animal-derived foods. So far, few studies have systematically reviewed the progresses, challenges, and future directions in veterinary drug residue detection. A thorough review on the current advancements, challenges, and potential future directions of veterinary drug residue detection will be extremely beneficial and timely. This study reviewed recent developments of detection technology of veterinary drug residues. The current issues and challenges in veterinary drug residue detection were examined and highlighted. Finally, future proposals on directions and prospects for veterinary drug residue detection were suggested. High-throughput and high-sensitivity veterinary drug detection technology, sample pretreatment technology for rapid processing, and the fusion of multiple detection methods were recommended as the main directions for the future development of veterinary drug residue detection. It was suggested to develop the analysis and detection technologies of veterinary drug residue towards high automation, high sensitivity, and high throughput in the future. This review provides new ideas and strategies for the rapid development of animal husbandry industry and protecting consumers’ physical health and food safety.