In this review, the research progress on catalytic conversion of glycerol to lactic acid or lactate esters and the reaction mechanisms with different catalysis systems are summarized. Both homogeneous catalysts, including inorganic bases and metal complexes, and heterogeneous catalysts, including metal oxides, molecular sieves, polyoxometalates and noble and non‐noble metals, are discussed. In particular, the influence of catalyst components, the physical and chemical properties of the catalysts and additives and solvents on the catalytic performances are highlighted. In comparison, nano‐metal particles or bimetal catalysts could achieve good catalytic performance, in which the alloy and synergistic effects might form under certain conditions. For further improvement of the sustainable transformation of glycerol to lactic acid or lactate esters, attention should still be paid to rational design of novel cost‐effective, high‐efficiency and green catalytic systems. © 2022 Society of Chemical Industry and John Wiley & Sons, Ltd.