This paper presents a study of prebreakdown phenomena (usually called streamers) occurring at high voltage in liquid nitrogen. A special cryostat has been constructed to allow dielectric measurements in liquid nitrogen up to 200 kV, and 0.5 MPa hydrostatic pressure. Streamers are detected and studied with various techniques: high speed visualization, streak camera, and recording of transient currents and emitted light. The propagation of positive and negative streamers is investigated at gap distances up to 80 mm. Streamers are then compared to similar phenomena observed in mineral oil. In liquid nitrogen, streamers are different compared to mineral oil. A transition from slow to fast positive streamers (velocity about 10 km/s) is observed at a threshold voltage below the breakdown voltage. The hydrostatic pressure has almost no influence on this phenomenon. Some experiments carried out with a solid barrier perpendicular to the gap axis are also presented. The practical consequences for the design of HV insulation in superconducting systems are then discussed.