Peptoids (or poly-N-substituted glycines) are a promising class of bioinspired sequence-defined polymers due to their highly efficient synthesis, high chemical stability, enzyme hydrolysis resistance, and biocompatibility. By tuning the side chain chemistry of peptoids, it allows for precise control over sequences and achieving a large side-chain diversity. Due to these unique features, in the last several years, many amphiphilic peptoids were designed as highly tunable building blocks for the preparation of biomimetic nanomaterials with well-defined hierarchical structures and desired functionalities. Herein, we provide an overview of the recent achievements in this area by dividing them into the following three aspects. First, mica-and silica-templated peptoid selfassembly are summarized. The presence of inorganic substrates provides the guarantee of investigating their selfassembly mechanisms and interactions between peptoids and substrates using nanoscale characterization techniques, particularly in situ atomic force microscopy (AFM) and AFMbased dynamic force spectroscopy (AFM-DFS). Second, solution-phase self-assembly of peptoids into nanotubes and nanosheets is presented, as well as their self-repair properties. Third, the applications of peptoid-based nanomaterials are outlined, including the construction of catalytic nanomaterials as a template and cytosolic delivery as cargoes.