As an important part of brake, the friction material is widely used in vehicles and mechanical devices, which is significant for security of both humans and equipments. After more than 100 years of development, there are many kinds of brake friction materials used nowadays. However, their preparations and properties are quite various for different application fields. In this paper, the research progress of brake friction materials was reviewed from four aspects. Firstly, the developing progress of brake friction materials was briefly summarized. Secondly, the classification and application of brake friction materials were introduced, and the typical preparation process as well as performance requirements of different brake friction materials were also explained. Thirdly, the tribological properties of brake friction materials were elaborated from three aspects: tribological tests, analysis methods, influence factors. Lastly, the monitoring on braking performance of brake friction materials such as friction coefficient, temperature rise and brake noise were introduced. The wear life prediction of brake pairs based on physical model and statistical methods were summarized. And the braking failure warning methods focused on failure temperature and friction catastrophe were discussed. It is believed that the review may be valuable for the development and research of brake friction materials in the present and future.