Topological semimetals are exotic phases of quantum matter with gapless electronic excitation protected by symmetry. Benefitting from its unique relativistic band dispersion, topological semimetals host abundant quantum states and quantum effects, such as Fermi-arc surface states and chiral anomaly. In recent years, due to the potential application in topological quantum computing, the hybrid system of topology and superconductivity has aroused wide interest in the community. Recent experimental progress of topological semimetal-superconductor heterojunctions is reviewed in two aspects: 1) Josephson current as a mode filter of different topological quantum states; 2) detection and manipulation of topological superconductivity and Majorana zero modes. For the former, utilizing Josephson interference, ballistic transport of Fermi-arc surface states is revealed, higher-order topological phases are discovered, and finite-momentum Cooper pairing and superconducting diode effect are realized. For the latter, by detecting a.c. Josephson effect in Dirac semimetals, the 4π-periodic supercurrent is discovered. By all-electric gate control, the topological transition of superconductivity is obtained. Outlooks of future research on topological semimetal-superconductor heterojunctions and their application in Majorana braiding and topological quantum computing are discussed.