Benzo five-/six-membered nitrogen-containing heterocyclic compound with a rigid plane and a large conjugate structure can emit characteristic fluorescence in a variety of organic solvents and mixed solutions, and N, O, S heteroatoms in the structure can serve as binding sites for fluorescent probes. Therefore, in recent years, benzo nitrogen-containing heterocyclic compounds are increasingly becoming one of the research focuses in the field of fluorescent probes. From the perspective of starting materials, synthesis methods, molecular structure, interaction mechanism, benzo five-/ six-membered nitrogen-containing heterocyclic fluorescent probes containing the structure of benzoxazole, benzothiazole, benzimidazole, indole, carbazole, quinoline, benzopyrazine and phenazine are introduced with emphasis. And their detection application for a variety of analytes, such small molecules, metal cations, anions and pH are reviewed. In the future, it is worthy of further attention to the research on the integration of multiple heterocyclic functional structures into a multifunctional fluorescent probe by simple and green synthesis.