The thermal manikin is a complicated, delicate, and expensive tool, which could simulate the heat exchange between environment and human body and measure the evaporative resistance and thermal insulation of clothing. This study reviewed the application of thermal manikin in evaluation on thermal and moisture comfort of clothing and the thermal manikin through three aspects namely traditional thermal manikin, thermal regulation manikins, and numerical thermal manikins. Several typical manikins (Newton, Coppelius, SAM, Walter, Ruth, and Wenda) were described, and the features, application fields, measurement principles, and research status of thermal manikin were demonstrated. Finally, the development trends of thermal manikin were proposed. Not only would this work promote the further development of the thermal manikins themselves and the innovation of relevant technologies but also provide valuable information for the development and design of relevant products.