Abstract: With the continuous expansion of deep-space exploration missions, the complex terrain of extraterrestrial planets poses higher demands on exploration robots. Legged robots, with outstanding terrain adaptability and mobility, become a research hotspot in the field of planetary exploration. The current state of legged planetary robots designed for challenging extraterrestrial terrains and environments are summarized. The design requirements of “one machine with multiple capabilities”, the adaptability and reliability in complex star catalog environments, energy supply and management, environmental perception and modeling, and other challenges are analyzed, with focus on the key technological research progress in mechanism and mechanical design methods, coordinated control methods, and perception and positioning methods of these robots.The advantages and disadvantages of different configurations and methods, as well as their problems in actual exploration missions are discussed, and future research directions and application prospects are explored, in order to provide a valuable reference for further development in the field of planetary exploration robotics.