<p indent=0mm>Nondestructive evaluation and testing of material degradation or micro-damages in an early stage are essential for the maintenance of the safety-critical structures. Therefore, it is important to detect defects in a very early stage or even better to detect changes in the microstructure before the defect initiation even occurs. Linear ultrasonic characteristics are not sufficiently sensitive to the kind of microscopic degradation of the material. However, on the other hand, even very small imperfections can produce very significant excess nonlinearity, which can be orders of magnitude higher than the intrinsic nonlinearity of the intact material. The excess nonlinearity is produced mainly by the strong local nonlinearity of microcracks. In order to assess the damage in components at an early stage, the use of nonlinear acoustics has been shown to be the leading and one of the most promising techniques. Second harmonic generation is a typical acoustic nonlinear effect of ultrasonic waves, which can be used to assess the material degradation and detect the micro-defects in their early stages. Furthermore, ultrasonic Lamb wave has been widely used in large-scale industrial structures for health monitoring and material nondestructive testing. Possibility to inspect inaccessible or hidden areas and great cost-effectiveness are the key advantages of ultrasonic Lamb wave-based damage detection approaches. Second harmonic Lamb wave, which combines the advantages of Lamb wave and the high sensitivity of second harmonic waves to micro damage, is drawing increasing attention in recent years. The measurement of second harmonic Lamb waves is investigated as a promising feature extraction technique to characterize material nonlinearity in plate-like structures. However, the second harmonic fields of Lamb waves are much more complex due to the dispersion and multi-mode nature of propagating Lamb waves. In general, the effect of second harmonic generation is often very small and can easily be overlooked experimentally. Consequently, proper mode tuning with physically based feature is essential to enhance the efficiency of second harmonic Lamb wave generation and reception. In experimental work, it is also difficult to observe and measure the second harmonic Lamb waves. Although significant development has been made in theoretical analysis and experimental investigation of second Lamb waves, the use of second harmonic Lamb wave for structural damage assessments is still limited by a series of scientific and technical difficulties. In this paper, the theoretical and experimental advances concerning second harmonic Lamb wave are systematically reviewed. First, theoretical analysis of second harmonic Lamb waves based on nonlinear reflection of acoustic waves is reviewed. Then, a general approach of perturbation method and normal modal expansion for theoretical study of the second harmonic Lamb waves propagation in a plate is introduced. The physical insight of nonlinear feature among different Lamb modes is clarified. As revealed in these pieces of theoretical work, the second harmonic modes of Lamb waves display an accumulative effect when conditions of phase matching and non-zero power transfer from the fundamental mode to the second harmonic mode are satisfied. The conditions for strong nonlinear effect of Lamb wave are discussed. Experimental observation and measurement of second harmonic Lamb waves are reviewed. Cumulative effect and efficiency of second harmonic generation of Lamb waves are discussed. The guideline for choosing the Lamb modes with higher sensitivity to material nonlinearity is provided. Based on the theoretical and experimental studies, the applications of second harmonic Lamb waves for material damage evaluation are summarized. In addition, some obscure understanding and disputed issues during the study in this research area are clarified. Finally, prospective priorities and research trends of second harmonic Lamb waves are discussed.