The Internet of Things (IoT) is envisioned to connect everything, spanning from terrestrial to nonterrestrial terminals, where reliable communication is expected to be allowed in both time-invariant and time-variant wireless channels. Since classic orthogonal frequency-division multiplexing (OFDM) modulation, which has been widely used in both the fourth-generation (4G) and the fifth-generation (5G) cellular systems, is sensitive to high Doppler effect, it is challenging to satisfy the ever-growing demands of future IoT. To circumvent this issue, the orthogonal time–frequency space (OTFS) scheme is proposed, which modulates the information bits in both the delay and the Doppler domains, and exhibits beneficial advantages in both static and high-mobility wireless channel scenarios. In this article, we present a comprehensive overview of OTFS for IoT, including the current transceiver design, the potential benefits, the challenge issues, as well as future design guidelines.