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Atmospheric boundary layer height (ABLH) is an important parameter used to depict characteristics of the planet-ary boundary layer (PBL) in the lower troposphere. The ABLH is strongly associated with the vertical distributions of heat, mass, and energy in the PBL, and it is a key quantity in numerical simulation of the PBL and plays an essential role in atmospheric environmental assessment. In this paper, various definitions and methods for deriving and estim-ating the ABLH are summarized, from the perspectives of turbulent motion, PBL dynamics and thermodynamics, and distributions of various substances in the PBL. Different methods for determining the ABLH by means of direct ob-servation and remote sensing retrieval are reviewed, and comparisons of the advantages and disadvantages of these methods are presented. The paper also summarizes the ABLH parameterization schemes, discusses current problems in the estimation of ABLH, and finally points out the directions for possible future breakthroughs in the ABLH-related research and application.