Exploiting existing longitudinal data cohorts can bring enormous benefits to the medical field, as many diseases have a complex and multi-factorial time-course, and start to develop long before symptoms appear. With the increasing healthcare digitisation, the application of machine learning techniques for longitudinal biomedical data may enable the development of new tools for assisting clinicians in their day-to-day medical practice, such as for early diagnosis, risk prediction, treatment planning and prognosis estimation. However, due to the heterogeneity and complexity of time-varying data sets, the development of suitable machine learning models introduces major challenges for data scientists as well as for clinical researchers. This paper provides a comprehensive and critical review of recent developments and applications in machine learning for longitudinal biomedical data. Although the paper provides a discussion of clustering methods, its primary focus is on the prediction of static outcomes, defined as the value of the event of interest at a given instant in time, using longitudinal features, which has emerged as the most commonly employed approach in healthcare applications. First, the main approaches and algorithms for building longitudinal machine learning models are presented in detail, including their technical implementations, strengths and limitations. Subsequently, most recent biomedical and clinical applications are reviewed and discussed, showing promising results in a wide range of medical specialties. Lastly, we discuss current challenges and consider future directions in the field to enhance the development of machine learning tools from longitudinal biomedical data.