We review the progress achieved within the last five years in the simulations of lattice QCD, as well as in the analysis for selected quantities probing nucleon structure. In particular, we discuss results on the nucleon electromagnetic form factors, σ-terms, the momentum fraction carried by quark in the nucleon and the helicity and transversity moments. All quantities are obtained using simulations generated with quark masses fixed to their physical values. In addition, we review the on-going effort to extract parton distribution functions (PDFs) directly from lattice QCD using the quasi-PDF approach.