A review is presented for the research development of Stirling cycle engines for recovering low and moderate temperature heat. The Stirling cycle engines are categorized into four types, including kinetic, thermoacoustic, free-piston, and liquid piston types. The working characteristics, features, technological details, and performances of the related Stirling cycle engines are summarized. Upon comparing the available experimental results and the technology potentials, the research directions and the possible applications of different Stirling cycle engines are further discussed and identified. It is concluded that kinetic Stirling engines and thermoacoustic engines have the greatest application prospect in low and moderate temperature heat recoveries in terms of output power scale, conversion efficiency, and costs. In particular, kinetic Stirling engines should be oriented toward two directions for practical applications, including providing low-cost solutions for low temperatures, and moderate efficient solutions with moderate costs for medium temperatures. Thermoacoustic engines for low temperature applications are especially attractive due to their low costs, high efficiencies, superior reliabilities, and simplicities over the other mechanical Stirling engines. This work indicates that a cost effective Stirling cycle engine is practical for recovering small-scale distributed low-grade thermal energy from various sources.