3D printing technology has been widely used in the fields of product design, rapid prototyping, and advanced materials for its advantages of convenience and cheapness to fabricate three-dimensional objects. In recent years, the concept of “4D printing” has attracted widespread attention from the society and academia. On the basis of 3D printing, 4D printing technology introduces the dimension of time. Under the influence of certain external stimuli, the shape, structure and function of 4D printing stimuli-responsive materials can change over time. This paper gave an overview of 4D printing, highlighted 4D printing materials and their shape memory effects, summarized the application prospects of 4D printing technology in various fields, and discussed the development trend of 4D printing technology in combination with the current research status of 4D printing.