Robot-based urban last-mile deliveries have recently attracted increasing attention from scientific research and industry. In particular, truck-robot delivery models are emerging as viable and competitive operational approaches. Consequently, this study reviews and analyzes the challenges, models, and methods associated with collaborative truck-robot deliveries. This article begins with a brief discussion of technical aspects, application areas, and challenges for introducing this novel technology. It then reviews the research on two primary models for robot delivery, namely hub-based and truck-based, along with their typical variants. It presents fundamental mathematical models that underpin the coordination and synchronization of trucks and robots in last-mile delivery scenarios, which can serve as the backbone for solving truck-robot delivery problems. Finally, this article summarizes both exact and heuristic methods employed to optimize delivery routes, discusses the critical problem in truck-robot collaborative delivery, and provides an outlook for future developments in robot-based logistics. This article will give researchers insights into the latest advancements in problem modeling and solution methods for truck-robot collaborative delivery systems. By using the basic mathematical models summarized in the article, researchers can easily construct and solve related problems. Logistics enterprise managers will obtain an in-depth understanding of the opportunities and challenges faced when deploying the system, as well as evaluations of the system’s performance in terms of operational costs, service time, and applicability. These insights provide critical references for developing effective operational strategies.