Humanoid robots represent a prominent area of robotics research. Their human-like structure grants them excellent adaptability to human-centric environments, and their high flexibility enables operation in complex scenarios where traditional robots cannot function. These capabilities position them to replace human labor in medical, industrial, and heavy-load applications, potentially having a transformative impact on industrial supply chains. However, the requirements for highly integrated systems and dynamic motion control pose significant challenges to the development of humanoid robots and their driving technologies. This paper begins by reviewing the current development of motor-driven and hydraulic-driven humanoid robots, summarizing their respective characteristics. Secondly, it examines the state-of-the-art in driving technology, focusing on both hardware drivers (motor and hydraulic) and control algorithms. Furthermore, the paper outlines mainstream motion control methods, detailing three primary approaches based on simplified models, stability criteria, and learning strategies. Finally, it discusses future challenges and prospects, concentrating on three key areas: high-power-density motor drives, the integration of structural and hydraulic systems (analogous to "bones and blood vessels"), and the modularization of electro-hydrostatic actuator.