Porous structures with light weight and high mechanical performance exist widely in the tissues of animals and plants. Biomimetic materials with those porous structures have been well-developed, and their highly specific surfaces can be further used in functional integration. However, most porous structures in those tissues can hardly be entirely duplicated, and their complex structure-performance relationship may still be not fully understood. The key challenges in promoting the applications of biomimetic porous materials are to figure out the essential factors in hierarchical porous structures and to develop matched preparation methods to control those factors precisely. Hence, this article reviews the existing methods to prepare biomimetic porous structures. Then, the well-proved effects of micropores, mesopores, and macropores on their various properties are introduced, including mechanical, electric, magnetic, thermotics, acoustic, and chemical properties. The advantages and disadvantages of hierarchical porous structures and their preparation methods are deeply evaluated. Focusing on those disadvantages and aiming to improve the performance and functions, we summarize several modification strategies and discuss the possibility of replacing biomimetic porous structures with meta-structures.