The lithium battery state of charge (SOC) estimation technology is the core technology to ensure the reasonable application of electric energy storage and electric vehicles, as well as the control, operation, monitoring, and maintenance of lithium battery systems. It demonstrates the problems of nonlinearity, time variability, complexity, and uncertainty of influencing factors in the practical application of lithium batteries, thereby resulting in the difficulty, low accuracy, and insufficient adaptability of the state of charge estimation. As a result, numerous lithium battery state of charge estimation algorithms and improvement strategies have emerged. At the same time, some researchers have analyzed and compared the implementation methods, advantages, and disadvantages of various estimation methods, and improvement strategies, but the relevant review lacks a systematic summary and insufficient discussion on the technical characteristics and applicability of estimation methods. To begin, this paper examines the influencing factors and test standards of lithium battery state of charge estimation. Next, the traditional methods based on experimental calculation, filtering algorithms based on battery model, data-driven machine learning technology, and digital-analog hybrid estimation methods are compared and analyzed, as well as technical characteristics, implementation process, applicable conditions, problems, pain points, and application advantages. The research focus and application status of the existing state of charge estimation technology for lithium batteries are systematically and comprehensively discussed. Finally, future research directions for lithium battery state of charge estimation algorithms are proposed.