This article provides a comprehensive review of optimal relay coordination (ORC) in distribution networks (DNs) that include distributed generators (DGs). The integration of DGs into DNs has become a real challenge for power system protection, as the power flow changes from unidirectional to bidirectional, which complicates the relay settings. The introduction of DGs in DNs requires changes and modifications in the protective schemes to maintain proper operation, reliability, stability, and security of the system. This paper focuses on the impacts of DGs penetration into DNs, including the effects on protective scheme coordination. Various expressions for characterizing the overcurrent (OC) coordination problem, as well as related solution attempts, are discussed. Several optimization strategies and techniques are suggested by scientists to deal with coordination optimization problems aiming to achieve less computation time and better accuracy. All these efforts ultimately aim to define optimal relay settings to achieve ORC by generating the optimal setting of cascading relative OC relays. This comprehensive review provides a broad overview of the contributions of scholars in recent publications in this field, with more than 210 articles reviewed and analyzed. It is a valuable resource for other researchers in the same field who aim to tackle ORC problems in their future endeavors.