In a broad range of real-world machine learning applications, representing examples as graphs is crucial to avoid a loss of information. For this reason, in the last few years, the definition of machine learning methods, particularly neural networks, for graph-structured inputs has been gaining increasing attention. In particular, Deep Graph Networks (DGNs) are nowadays the most commonly adopted models to learn a representation that can be used to address different tasks related to nodes, edges, or even entire graphs. This tutorial paper reviews fundamental concepts and open challenges of graph representation learning and summarizes the contributions that have been accepted for publication to the ESANN 2023 special session on the topic.