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As a new type of micro-/nanomachines, self-propelled micro-/nanomotors (MNMs) can convert chemical or external energies from the surrounding environment into mechanical forces to produce autonomous motion. The ability of autonomous movement allows these MNMs to move actively to the targeted locations, and thus confers great potentials on the MNMs for applications in biomedicine, especially in drug delivery. MNMs have been shown to effectively load therapeutic payloads for active delivery to the disease site, which greatly improves the therapeutic efficacy and reduces side effects compared with the traditional nanodrugs. In this review, we provide an overview of different propulsion mechanisms of MNMs, including chemical propulsion based on redox reaction and external field propulsion driven by external energy such as light, magnetic field, electric field and ultrasound, followed by a review of the recent progress in active drug delivery based on MNMs in the past decade. We also discuss the current challenges and future perspectives of the application of the MNMs.