Abstract-This paper provides a detailed overview of the techniques and applications related to distribution system state estimation (DSSE), together with the classification of various types of state estimation. The paper also provides the state-of-art techniques applied in DSSE including forecasted-aided state estimation, close-loop DSSE methods, the application of computation intelligence in DSSE and the use of smart meters and phasor measurement units in load estimation. As more and more active elements and functionalities will be integrated in future distribution network, e.g. demand-side management, the increased penetration of decentralized generation and dynamically controlled storage/devices, DSSE will be one of the critical functionalities for secure operation of future distribution networks. As a pathway to cost-efficient DSSE for future distribution networks, this paper addresses the characteristics of future distribution grids that will affect DSSE, and also discusses the techniques and data that can be used to better understand/model the network behaviors and load profiles in order to ultimately improve the accuracy of DSSE.