Soymilk production is increasing year-on-year due to being perceived as a good way to obtain many important functional dietary components. Indeed, compared to bovine milk, soymilk production is expected to increase in the future. Considering the balance between supply and demand for protein sources, replacing some meat protein with soybean protein by improving the quality of soybean product is considered valuable. Consequently, this review will examine and summarize the progress of research being conducted on soymilk. A knowledge of soymilk requires an understanding of its structure, and numerous approaches have been taken in this regard. Investigations on heating, milling and extraction in soymilk processing are considered essential. Further, investigations on secondary processing of soymilk, such as concentration, membrane treatment, drying, and freezing are also introduced.