Surface forces at the liquid-solid interface play a fundamental role in a wide range of scientific disciplines including electrochemistry, energy storage, wetting, catalysis, environmental science, biochemistry, biophysics, and physical biology. Dynamic Atomic Force Microscopy (dAFM) is being increasingly used to quantify and map these forces with nanometer resolution. In dynamic AFM surface forces are sensed from the changes they cause in the nonlinear dynamics of the oscillating AFM cantilever. However, the dynamics of the AFM cantilever at liquid-solid interface differs significantly compared to air or vacuum environments due to both the low Q-factor of the cantilever in liquids as well as the unique nature of intermolecular forces at solid-liquid interface. In this article we review the state-of-art of understanding of nonlinear dynamics of AFM microcantilevers in liquid environments and outline the many open areas of research both in mathematical modeling and in experiments that remain to be explored.