Urinary system tumor is one of the important parts of global cancer, and surgery is still the main way to treat this kind of cancer. Although the tumor tissue can be removed as much as possible through visual observation and tactile feedback during the operation, there are still some small lesions that are difficult to be recognized by the naked eye and small tumors disseminated during the operation, which cannot be effectively removed. Fluorescent molecular imaging (FMI), as a new imaging technology, can accurately locate the lesions during surgery, provide intraoperative navigation function, and achieve precise surgery. The development of fluorescent molecular probes for intraoperative navigation is of great significance to improve the prognosis of patients with urinary system tumors and reduce the recurrence rate. This paper reviews the application status of fluorescent molecular probes in urinary system tumors at home and abroad, and analyzes the current research progress and future development direction.