The sample of laser cooled atoms significantly improves precision measurements of atom spectrum due to its advantages such as longer interrogation time, elimination of Doppler and collision-induced shifts, weak coupling to the interrogating fields and so on. The benefits of cold atoms have attracted large interest in navigation field. The development history of navigation sensors based on cold atom is reviewed and the recent research status of cold atom navigation sensors is introduced. The navigation sensors are classified into three types according to their different structures, and the physical effects, operation principles, performance parameters and application fields are described respectively. Finally, the development tendency is prospected. It is pointed out that the high-g dynamic environment and the integration and package of the system will be the main challenges for the practical application of cold atom navigation sensors.