Every year several contributions to the model-based testing (MBT) field are published. Therefore, to follow the evolution and trends of several tools and models available is difficult. Moreover, since the variety of models and tools that became available in recent years, choosing an approach to support the MBT process is a challenging activity. The main objective of this study is to provide an overview on MBT tools and models used by those tools. Furthermore, the authors' study can help academic researchers and companies to understand the topics involving MBT. Therefore, a systematic mapping study was conducted in which 1197 distinct papers were evaluated. At the end, 87 primary studies were selected to be analysed in a quantitative and qualitative way. As a result, they classified the tools and models that are currently used to support MBT. Moreover, they identified 70 MBT tools, as well as different domains in which MBT is already applied to. Therefore, there are some evidence that MBT continues to be a broad and 'alive' research field since every year a significant number of papers presenting different kinds of contributions are published.