In recent years, fiber-reinforced polymer (FRP) composites have been widely used as a new type of high-performance material in concrete structures. FRP composites have the advantages of high strength, light weight, and corrosion resistance. Based on existing studies in the literature, this paper reviews the development and applications of FRP materials for the strengthening and rehabilitation of bridge structures. The types and properties of FRP composites are summarized, and the applications and development of FRP sheets, FRP bars, FRP grids, and prestressed FRP tendons for bridge structures are discussed. Different types of FRP composites result in different failure characteristics and bearing capacities. Moreover, this paper covers the FRP strengthening methods and the response properties of the flexural performance, bonding performance, and ductility. Significant conclusions regarding the strengthening/repair of bridge structures with FRP composites are presented. The review details the current state of knowledge and research on strengthening bridge structures with FRP composites and is helpful for better understanding and establishing design criteria.