Electron-hadron colliders are the ultimate tool for high-precision quantum chromodynamics studies and provide the ultimate microscope for probing the internal structure of hadrons. The electron is an ideal probe of the proton structure because it provides the unmatched precision of the electromagnetic interaction, as the virtual photon or vector bosons probe the proton structure in a clean environment, the kinematics of which is uniquely determined by the electron beam and the scattered lepton, or the hadronic final state accounting appropriately for radiation. The Hadron Electron Ring Accelerator HERA (DESY, Hamburg, Germany) was the only electron-hadron collider ever operated (1991–2007) and advanced the knowledge of quantum chromodynamics and the proton structure, with implications for the physics studied in RHIC (BNL, Upton, NY) and the LHC (CERN, Geneva, Switzerland). Recent technological advances in the field of particle accelerators pave the way to realize next-generation electron-hadron colliders that deliver higher luminosity and enable collisions in a much broader range of energies and beam types than HERA. Electron-hadron colliders combine challenges from both electron and hadron machines besides facing their own distinct challenges derived from their intrinsic asymmetry. This review paper will discuss the major features and milestones of HERA and will examine the electron-hadron collider designs of the Electron-Ion Collider (EIC) currently under construction at BNL, the CERN’s Large Hadron electron Collider (LHeC), at an advanced stage of design and awaiting approval, and the Future Circular lepton-hadron Collider (FCC-eh).