Terahertz antennas and beam manipulation elements are used for realizing terahertz wave focusing, power division, frequency selection and beam shaping. These elements are essential components in terahertz systems, which have been widely used in radio astronomy, remote sensing and deep-space exploration, radar and imaging, wireless communication and other fields.This paper focuses on the basic principles and status quo both at home and abroad of terahertz reflector antenna and lens, beam splitter, dichroic plate and beam homogenizer. Also, we prospect the development trend of terahertz antennas and beam manipulation technology.