The concept of Digital Twin (DT) has emerged as a trend in various industries development, enabling the creation of virtual models of physical objects. We conduct a systematic review of the digital twin technology in the field of transportation infrastructure management from the aspects of concept definition, whole life cycle application, advanced technology, and equipment utilization, as well as the challenges. We begin with an introduction that defines DT and its components, while also distinguishing it from Building Information Modeling (BIM) and Cyber-physical Systems (CPS). We explore the diverse applications of DT throughout its lifecycle and highlight the significance of DT in structural monitoring, infrastructure operation and maintenance, and dataset expansion. We further investigate the advanced techniques and equipment associated with DT components, focusing on the importance of virtual parts, data acquisition, transmission, multi-source data fusion processing, and data security as well as dynamic updating of models for effective integration and utilization of DT in transportation infrastructure management. We identify key challenges faced by DT in transportation infrastructure management and propose future trends in the study. This comprehensive review serves as a valuable resource for researchers, practitioners, and decision-makers in understanding the potential of DT technology in transportation infrastructure management.