Using optical Doppler effect, Doppler lidar can obtain atmospheric wind parameters with high temporal and spatial resolution by detecting the frequency drift of the emitted laser. The technology has provided a wide range of applications, such as aircraft wake detection, atmospheric turbulence detection, wind shear detection near the airport, and application in wind farms. Firstly, the basic principle of Doppler effect and wind lidar technology is introduced, and then the Doppler wind lidar is classified based on principle and practical application. Then different technologies, such as coherent detection and direct detection, continuous lidar detection and pulse lidar detection, single-edge technology and double-edge technology, FP fringe technology and Fizeau fringe technology, VAD and DBS scanning, are systematically introduced. Finally, some examples of ground-based, airborne and spaceborne wind lidar, as well as the new wind lidar technology, are briefly introduced, and the Doppler wind lidar technology is summarized and prospected.