The advent of Industry 4.0 has spawned the widespread application of digital twin technology, providing digital solutions for intelligent manufacturing and product life-cycle management. In the field of civil engineering, the enhancement of digital disaster prevention and civil structure management is a critical component in the development of future smart cities. On one hand, the establishment of precise and reliable digital twins of real-life civil structures can facilitate disaster prevention from extreme hazards, as well as identify and warn against potential risks. On the other hand, digital twins lay the foundation for technological advancements in the digital construction and management of future cities. This study first categorizes the fundamental concepts and developmental stages of digital twin technology. Then, the acquisition of twining data and construction of digital twins for civil structures are systematically summarized. Building on this foundation, a comprehensive review and outlook is presented on the application of digital twin technology in civil engineering, encompassing the operation and maintenance of structures, disaster simulation and digital twin cities.