Facing increasing sustainability demands, the construction industry is at a turning point where the implementation of circular economy (CE) strategies plays an essential role in driving the necessary transformation aimed at reducing the environmental impact. To facilitate this shift, structural engineering must effectively integrate circular principles into building design. With the exponential growth of research articles within this field, it is crucial to map the evolution of the research area. The objective of this study is to detail the trends with, challenges to, and research contributions, integration, and material applications of CE principles within structural engineering. Consequently, a systematic mapping of the CE within the field of structural engineering has been conducted in this study. Initially, the mapping process began with the identification of relevant keywords, followed by searches across four databases. Each resulting article was carefully screened against content criteria, culminating in 91 publications that were thoroughly evaluated. The publications were then categorized and analyzed based on attributes such as research type, circular design, materials, and applications. The results are presented through informative figures and tables. The analysis of the research indicates a predominant focus on technical solutions for structural systems, with demountable connections designed to facilitate the future reuse of materials representing more than half of the literature reviewed. A significant portion of the literature also addresses designing from reclaimed elements; these articles reflect a transformation in engineering approaches, incorporating computational design and innovative methodologies. The focus on steel as a structural material is prominent in the reviewed literature. However, there is an increasing focus on timber, which signals a definitive shift toward sustainable structural systems. Recurring challenges identified in the literature regarding the transition to a circular economy (CE) in the construction industry include the need for industry-wide adoption, precise standardization, the integration of digital tools, and the overcoming of related obstacles in policy and market acceptances. Furthermore, the literature demonstrates a significant research gap: the absence of a comprehensive digital framework enabling an effective digital circular structural design workflow.