Terahertz radar has unique advantages, including large bandwidth, high resolution, Doppler sensitivity, and anti-interference; it is a significant development in the field of target detection. Herein, the history of electronic and optical terahertz radar systems is introduced, and the current situation and latest progress pertaining to these systems are reviewed. The target characteristics of terahertz radar are summarized based on its mechanism, calculation, and measurement. Moreover, the current research status of terahertz SAR, ISAR, array, and aperture encoding imaging are discussed, and the applications of terahertz radar, such as early warning detection and security anti-terrorism systems, are briefly introduced. Finally, the development direction of terahertz radar technology is forecast.