Quantum secure direct communication (QSDC) is one of the most important branches of quantum communication. In contrast to the quantum key distribution (QKD) which distributes a secure key between distant parties, QSDC directly transmits secret message instead of sharing key in advance. To establish a secure QSDC protocol, on the one hand, the security of the quantum channel should be confirmed before the exchange of the secret message. On the other hand, the quantum state should be transmitted in a quantum data block since the security of QSDC is based on the error rate analysis in the theories on statistics. Compared with the deterministic quantum key distribution (DQKD) which can also be used to transmit deterministic information, QSDC schemes do not need extra classical bits to read the secret message except for public discussion. In this article, we introduce the basic principles of QSDC and review the development in this field by introducing typical QSDC protocols chronologically. The first QSDC protocol was proposed by Long and Liu, which can be used to establish a common key between distant parties. In their scheme, the method for transmitting quantum states in a block by block way and in multiple steps was proposed and the information leakage before eavesdropping detection was solved. Subsequently, Deng et al. presented two pioneering QSDC schemes, an entangled-state-based two-step QSDC scheme and a single-photon-state-based quantum one-time pad scheme, in which the basic principle and criteria for QSDC were pointed out. From then on, many interesting QSDC schemes have been proposed, including the high-dimension QSDC scheme based on quantum superdense coding, multi-step QSDC scheme based on Greenberger-Horne-Zeilinger states, QSDC scheme based on quantum encryption with practical non-maximally entangled quantum channel, and so on. We also introduce the anti-noise QSDC schemes which were designed for coping with the collective-dephasing noise and the collective-rotation noise, respectively. In 2011, Wang et al. presented the first QSDC which exploited the hyperentangled state as the information carrier and several QSDC schemes based on the spatial degree of freedom (DOF) of photon, single-photon multi-DOF state and hyperentanglement were proposed subsequently. In addition to the point-to-point QSDC schemes, we also review the QSDC networks. Finally, a perspective of QSDC research is given in the last section.