Abstract: Stress detection is a necessary means to ensure the stable and reliable operation of the mechanical device. Due to the complexity of the mechanical device structures and the diversity of the working environments, the requirements for the detection methods are relatively high. Ultrasonic stress detection has been widely concerned and applied to internal and external stress detection in continuous medium and discontinuous medium because of its high precision, harmlessness and strong adaptability. In this paper, the working principles, development processes and practical application of three most important methods in ultrasonic stress detection, known as acoustoelastic effect method, acoustic reflection coefficient method and nonlinear ultrasonic detection method, are reviewed by combining the domestic and foreign research results. And its development status is summarized and the future development is prospected, respectively.