Glycerol esterification produces a variety of valuable chemicals and has been a subject of great interest in recent years. Lipase-catalysed synthesis of acylglycerols reactions have many potential applications, including in the production of structured lipids, biofuels and pharmaceuticals. It offers several benefits over traditional chemical methods, including higher selectivity, milder reaction conditions and increased sustainability. In this systematic review, we summarize 52 primary research of lipase catalysed synthesis of acylglycerol published from 2012 to 2022. Different types of reactions employed in the synthesis of acylglycerols using various lipases are thoroughly discussed. The use of lipase in as biocatalyst in the synthesis of acylglycerols is safe for consumption and sustainable as it can reduce the utilization of toxic and hazardous organic solvents and chemicals that cause harm to human health and the environment. This review serves as a reference for the research and development of acylglycerols using biocatalysts and reactors. It could be an interest to the food and pharmaceutical industries or individuals who are interested to explore this field. Several limitations associated with the overall research on production of acylglycerols are presented in the conclusion section.