Abstract: Soft robots have great potential for tasks in unstructured environments. Nevertheless, the integration of their drive systems with their structural components presents intricate challenges in the realm of structural design. In contrast to conventional empirical and biomimetic design paradigms, topology optimization methods facilitate a rigorous mathematical framework for the evolution of structures, thereby introducing novel insights into design conundrums. This review focuses on the research progress and future trends in topology optimization design for soft robots. Firstly, two basic design problems in soft robots are briefly described, namely deformation behaviour and interaction force characteristics. And then the concept of topology optimization and its main methods are explained, followed by typical design cases of various soft actuators. Finally, the technological challenges in topology optimization design for soft robots are systematically outlined.