The advance in digital diagnostic technologies has significantly facilitated the detection of dental caries. Despite the increase in clinically available digital diagnostic aids for dental caries, there is yet to be a comprehensive summary of all available technology. This review aims to provide an overview of digital diagnostic aids for the clinical detection of dental caries, particularly those at an initial stage. Currently available digital diagnostic aids for caries detection can be classified into four categories according to the initial source of energy, including radiation-based aids, light-based aids, ultrasound-based aids, and electric-based aids. Radiation-based aids use ionizing radiation, normally X-ray, to produce images of dental structures. Radiation-based aids encompass digital bitewing radiography and cone beam computed tomography. Light-based aids employ light or laser to induce signals for the detection of the changes in the carious dental hard tissue. Common light-based aids include digital transillumination and light/laser-induced fluorescence. Ultrasound-based aids detect the signal of ultrasound waves to assess the acoustic impedance of the carious teeth. The ultrasound caries detector is an available ultrasound-based aid. Electric-based aids assess the changes in the electric current conductance or impedance of the teeth with caries. Available electric-based aids include electrical conductance measurement and alternating current impedance spectroscopy. Except for these clinically available digital diagnostic aids, many digital diagnostic aids for caries detection are still under development with promising results in laboratory settings.