The health monitoring system of a bridge is an important guarantee for the safe operation of the bridge and has always been a research hotspot in the field of civil engineering. This paper reviews the latest progressions in bridge health monitoring over the past five years. This paper is organized according to the various links of the bridge health monitoring system. Firstly, the literature on monitoring technology is divided into two categories, sensor technology and computer vision technology, for review. Secondly, based on the obtained monitoring data, the data processing methods including preprocessing, noise reduction, and reconstruction are summarized. Then, the technical literature on abnormal data early warning systems is summarized. The recent advances in vibration-based and non-destructive testing-based damage identification methods are reviewed in the next section. Finally, the advantages and disadvantages of the existing research and the future research directions are summarized. This review aims to provide a clear framework and some reliable methods for future research.