Images captured under poor illumination conditions often exhibit characteristics such as low brightness, low contrast, a narrow gray range, and color distortion, as well as considerable noise, which seriously affect the subjective visual effect on human eyes and greatly limit the performance of various machine vision systems. The role of low-light image enhancement is to improve the visual effect of such images for the benefit of subsequent processing. This paper reviews the main techniques of low-light image enhancement developed over the past decades. First, we present a new classification of these algorithms, dividing them into seven categories: gray transformation methods, histogram equalization methods, Retinex methods, frequency-domain methods, image fusion methods, defogging model methods and machine learning methods. Then, all the categories of methods, including subcategories, are introduced in accordance with their principles and characteristics. In addition, various quality evaluation methods for enhanced images are detailed, and comparisons of different algorithms are discussed. Finally, the current research progress is summarized, and future research directions are suggested. INDEX TERMS Review, survey, low-light image enhancement, Retinex method, image enhancement, quality evaluation.