Lens is a basic optical element that is widely used in daily life, such as in cameras, glasses, and microscopes. Conventional lenses are designed based on the classical refractive optics, which results in inevitable imaging aberrations, such as chromatic aberration, spherical aberration and coma. To solve these problems, conventional imaging systems impose multiple curved lenses with different thicknesses and materials to eliminate these aberrations. As a unique photonic technology, metasurfaces can accurately manipulate the wavefront of light to produce fascinating and peculiar optical phenomena, which has stimulated researchers’ extensive interests in the field of planar optics. Starting from the introduction of phase modulation methods, this review summarizes the design principles and characteristics of metalenses. Although the imaging quality of existing metalenses is not necessarily better than that of conventional lenses, the multi-dimensional and multi-degree-of-freedom control of metasurfaces provides metalenses with novel functions that are extremely challenging or impossible to achieve with conventional lenses.