Dendrimers have a diverse and versatile morphology, frequently consisting of core, linking, and peripheral moieties. Dendrimers with flexible linkers, such as PAMAM, cannot retain the persistent shape of molecules, and this has been widely explored and reviewed previously; nevertheless, dendrimers with stiff linkers can preserve the persistent shape of the dendrimers, which has been reported considerably less. This review thus focuses on addressing shape-persistent dendrimers with rigid linking moieties discovered in recent years, i.e., from 2012 to 2023. Shape-persistent dendrimers with an interstitial gap between the dendritic frames in the solid state may or may not let the intramolecular void space be accessible for guest molecules, which largely depends on whether their peripheral groups are flexible or non-flexible. In this paper, eight articles on shape-persistent dendrimers with a flexible alkyl periphery, which may exhibit mesogenic phases upon thermal treatment, and eight articles on shape-persistent dendrimers with a non-flexible periphery, which may allow external ions, gases, or volatile organic compounds to access the interstitial gaps between dendritic frames, are reviewed.