Nowadays, with the rapid growth of the internet of things (IoT), massive amounts of time series data are being generated. Time series data play an important role in scientific and technological research for conducting experiments and studies to obtain solid and convincing results. However, due to privacy restrictions, limited access to time series data is always an obstacle. Moreover, the limited available open source data are often not suitable because of a small quantity and insufficient dimensionality and complexity. Therefore, time series data generation has become an imperative and promising solution. In this paper, we provide an overview of classical and state-of-the-art time series data generation methods in IoT. We classify the time series data generation methods into four major categories: rule-based methods, simulation-model-based methods, traditional machine-learning-based methods, and deep-learning-based methods. For each category, we first illustrate its characteristics and then describe the principles and mechanisms of the methods. Finally, we summarize the challenges and future directions of time series data generation in IoT. The systematic classification and evaluation will be a valuable reference for researchers in the time series data generation field.