Abstract: ［Objectives］The advantages of fish, such as high propulsion efficiency, strong maneuverability, and low environmental disturbance, have sparked extensive research by scholars both domestically and internationally on bionic robotic fish. The basic level gait control method and closed-loop motion control method are currently two hot topics in the research of robotic fish control. ［Methods］According to the classification method of propulsion mode, this paper summarizes the prototype development and performance of various robotic fish, introduces the research progress of propulsion mechanism and hydrodynamics of robotic fish, and then focuses on two basic gait control ideas: trajectory approximation method and Central pattern generator, and summarizes the typical closed-loop motion control methods of robotic fish. ［Results］The Central pattern generator has stronger flexibility, stability and operability, and is easy to introduce feedback items to achieve closed-loop control, which plays a leading role in the basic gait control of robotic fish; The improved learning based control method and the hybrid control method combining multiple methods based on the significant characteristics of robotic fish have broader development prospects, which is in line with the development direction of intelligent biomimetic robotic fish. ［Conclusions］Establishing a reasonable gait control system and an accurate and efficient closed-loop motion control system based on working conditions and motion requirements is the key to improving the overall performance of robotic fish.