The fast depletion of fossil fuels and the growing awareness of the need for environmental protection have led us to the energy crisis. Positive development has been achieved since the last decade by the collective effort of scientists. In this regard, renewable energy sources (RES) are being deployed in the power system to meet the energy demand. The microgrid concept (AC, DC) is introduced, in which distributed energy resources (DERs), the energy storage system (ESS) and loads are interconnected. DC microgrids are appreciated due to their high efficiency and reliability performance. Despite its significant growth, the DC microgrid is still relatively novel in terms of grid architecture and control systems. In this context, an energy management system (EMS) is essential for the optimal use of DERs in secure, reliable, and intelligent ways. Therefore, this paper strives to shed light on DC microgrid architecture, control structure, and EMS. With an extensive literature survey on EMSs’ role, different methods and strategies related to microgrid energy management are covered in this article. More attention is centered on the EMS for DC microgrids in terms of size and cost optimization. A very concise analysis of multiple optimization methods and techniques has been presented exclusively for residential applications.