The surface plasmon resonance (SPR) phenomenon has attracted considerable attention because of its sensitivity to the changes in the surface refractive index of materials. Sensors based on SPR have broad application potential in the fields of biomarker detection, food allergen screening, and environmental monitoring as they have advantages such as unmarked, high sensitivity and rapid detection. We review SPR biosensors based on three types of structures, namely prism coupling, grating coupling, and fiber coupling structures. The detection principle, typical structures and other sensing characteristics of the three structures and the advancements in their development are emphatically studied. Furthermore, the research status and technical problems related to biological functionalization in SPR biosensor technology are discussed. SPR sensors with different material surface characteristics are also discussed. The problems encountered in the practical application of SPR biosensors are analyzed, and the future research directions are presented. Finally, the prospects for the development trend of new biosensors are discussed based on the aspects of the structure and materials used.