Malaria is a deadly disease that affects the health of hundreds of millions of people annually. Five Plasmodium parasite species naturally infect humans: Plasmodium falciparum, Plasmodium vivax, Plasmodium malariae, Plasmodium ovale, and Plasmodium knowlesi. These parasites can also infect various non-human primates. Parasites mainly infecting monkeys, such as Plasmodium cynomolgi and P. knowlesi, the latter of which was considered to be a monkey parasite for years, can also be transmitted to human hosts. Recently, many new Plasmodium species have been discovered in African apes, some of which may be transmitted to humans in the future. Here, we searched PubMed and the internet via Google and selected articles on the zoonotic transmission and evolution of selected malaria parasite species. We review current advances in the relevant topics, emphasizing the transmission of malaria parasites between humans and non-human primates. We also briefly discuss the transmission of some avian malaria parasites between wild birds and domestic fowls. Zoonotic malaria transmission is widespread, thus posing a threat to public health. More studies on parasite species, including their identification in non-human primates, transmission, and evolution, are needed to decrease or prevent the transmission of malaria parasites from non-human primates to humans.