Atomic clocks with cold atoms play important roles in the field of fundamental physics as well as primary frequency standards. Operating such cold-atom clocks in space paves the way for further exploring in fundamental physics, for example dark matter and general relativity. We developed a space cold atom clock (SCAC), which was launched into orbit with the Space Lab TG-2 at 2016. Before it deorbited with TG-2 at 2019, the SCAC had been working continuously for almost three years. During the period in orbit, many scientific experiments and engineering tests have been performed. In this article, we summarize the principle, development and in-orbit results. These works provide the basis for the construction of space-borne time-frequency system in deep space.