Radio-frequency identification (RFID) sensors are one of the fundamental components of the internet of things that aims at connecting every physical object to the cloud for the exchange of information. In this framework, chipless RFIDs are a breakthrough technology because they remove the cost associated with the chip, being at the same time printable, passive, low-power and suitable for harsh environments. After the important results achieved with multibit chipless tags, there is a clear motivation and interest to extend the chipless sensing functionality to physical, chemical, structural and environmental parameters. These potentialities triggered a strong interest in the scientific and industrial community towards this type of application. Temperature and humidity sensors, as well as localization, proximity, and structural health prototypes, have already been demonstrated, and many other sensing applications are foreseen soon. In this review, both the different architectural approaches available for this technology and the requirements related to the materials employed for sensing are summarized. Then, the state-of-the-art of categories of sensors and their applications are reported and discussed. Finally, an analysis of the current limitations and possible solution strategies for this technology are given, together with an overview of expected future developments.