There are some limitations when conventional ultrasonic testing methods are used for testing early damage in metal parts. With the continuous development of acoustics and materials science, nonlinear ultrasonic nondestructive testing technology has been used for testing of early damage in metal materials. In order to better understand the basic theory and research progress of the nonlinear ultrasonic testing technology, the classical nonlinear ultrasonic theoretical models, including the dislocation monopole model, dislocation dipole model, precipitate-dislocation pinning model, and contact nonlinear ultrasonic theory-microcrack model, are analyzed in depth. This paper introduces the application and research progress of nonlinear ultrasonic detection technology, which is derived from different acoustic nonlinear effects, such as higher harmonic, wave mixing and modulation, sub-harmonic, resonance frequency spectrum analysis, and non-linear ultrasonic phased array imaging. The key technologies and problems are summarized to provide a reference for the further development and promotion of nonlinear ultrasonic non-destructive testing technology.