This paper provides a comprehensive survey of Machine Learning Testing (ML testing) research. It covers 128 papers on testing properties (e.g., correctness, robustness, and fairness), testing components (e.g., the data, learning program, and framework), testing workflow (e.g., test generation and test evaluation), and application scenarios (e.g., autonomous driving, machine translation). The paper also analyses trends concerning datasets, research trends, and research focus, concluding with research challenges and promising research directions in ML testing. Index Terms-machine learning, software testing, deep neural network, ! • Jie M. Zhang and Mark Harman are with CREST, University College London, United Kingdom. Mark Harman is also with Facebook London.