Even though already in the seventies, right after the invention of the quantum cascade laser (QCL) concept, it was argued that this device could be operated in the THz (far-infrared) range of the electromagnetic spectrum, it was only in 2002 that the first working THz QCL was demonstrated. Soon afterwards, the progress was very rapid; in the space of 2-3 years, operating temperatures were raised, single-mode DFB devices were produced, applications as local oscillators in heterodyne transceivers were implemented, frequency coverage was extended to the whole 1-5 THz region. In the last few years, technological advancement has continued to improve performances: the maximum operating temperature has now reached about 250 K and about 1 W peak output power has been demonstrated. Several beam engineering techniques have been implemented, with the scope of enhancing spectral purity, improving beam quality and achieving vertical emission. In parallel, various approaches have been devised that allow frequency tunability of the emitted light, with the most efficient schemes achieving a tuning range of about 10% of the central emission frequency. Even the generation of frequency combs directly from THz QCLs has been obtained, by employing dispersion compensated waveguides and an intrinsic material non-linearity. This manuscript reviews the physics underlying the operation of THz QCLs, the technology developed to advance laser performances, and highlights the latest most promising progresses in this fascinating area of opto-electronics.