Soil-engaging components play a critical role in agricultural production and engineering construction. However, the soil-engaging components directly interacting with the soil often suffer from the problems of high resistance, adhesion, and wear, which significantly reduce the efficiency and quality of soil operations. A large number of featured studies on the design of soil-engaging components have been carried out while applying the principles of bionics extensively, and significant research results have been achieved. This review conducts a comprehensive literature survey on the application of biomimetics in the design of soil-engaging components. The focus is on performance optimization in regard to the following three aspects: draught reduction, anti-adhesion, and wear resistance. The mechanisms of various biomimetic soil-engaging components are systematically explained. Based on the literature analysis and biomimetic research, future trends in the development of biomimetic soil-engaging components are discussed from both the mechanism and application perspectives. This research is expected to provide new insights and inspiration for addressing related scientific and engineering challenges.