This work summarizes the 40 years of research in the generation of streamflow forecasts based on an exhaustive review of studies. Ensemble prediction systems are categorized into three classes: statistics-based, climatology-based and numerical weather prediction-based hydrological ensemble prediction systems. For each ensemble forecasting system, thorough technical information is provided. Findings from the success of the model-based ensemble forecasting approaches are analysed, as are prospective future developments.