Abstract: Composite materials have emerged as a critical solution for humanoid robots due to their superior properties, including high strength, high specific stiffness, fatigue resistance, corrosion resistance, thermal stability, and structural designability. These advantages enable composites to overcome the limitations of traditional materials, meeting the multifunctional demands of humanoid robots in complex environments and driving advancements in lightweight, functional, and intelligent design. This paper summarized the scientific issues of composite materials in humanoid robots and reviewed the application progress of composite materials in humanoid robots., focusing on three key aspects: the lightweight design and structural optimization of composites, composite-based sensing systems, and composite-based drive systems. In response to future demands for lightweight humanoid robots, multi-scenario applications, and applications in special or extreme environments, combined with the latest research results, the future trends of composite materials in the development of humanoid robots are summarized, including new ultra-light structures, impact resistance, thermal stability, intelligent deformation, concealment, and green manufacturing.