Vehicle-to-grid (V2G) technology has emerged as a promising solution for enhancing the integration of electric vehicles (EVs) into the electric grid, offering benefits, such as distributed energy resource (DER) integration, grid stability support, and peak demand management, among others, as well as environmental advantages. This study provides a comprehensive review of V2G systems, with a specific focus on the role of the communication, as they have been identified as key enablers, as well as the challenges that V2G must face. It begins by introducing the fundamentals of V2G systems, including their architecture, operation, and a description of the benefits for different sectors. It then delves into the communication technologies and protocols in V2G systems, highlighting the key requirements in achieving reliable and efficient communication between EVs and the different agents involved. A comprehensive review of communication standards is described, as well as the main communication technologies, which are evaluated in terms of their suitability for V2G applications. Furthermore, the study discusses the challenges and environmental implications of V2G technology, emphasizing the importance of addressing strong and reliable communications to maximize its potential benefits. Finally, future research directions and potential solutions for overcoming challenges in V2G systems are outlined, offering useful insights for researchers, policymakers, and administrations as well as related industry stakeholders.