<p>We review the key observations and theories relevant to the origin and evolution of the Galilean satellites. Key observations include: the potentially undifferentiated nature of Callisto; the increasing ice fraction with semi-major axis; the present-day existence of the Laplace resonance; the potential resurfacing of Ganymede mid-way through its evolution; and the metal-enriched nature of Jupiter’s envelope. The most widely accepted theory for the formation of the satellites is the so-called “starved disk” model, although newer alternatives including decretion disks and pebble accretion have also been proposed. Models that allow slow satellite formation in a cold disk are preferred, based on the density progression and Callisto’s apparent differentiation state. Major model uncertainties include the angular momentum distribution of the material infalling to the circumplanetary disk, the source of the solids, and the thermal and viscosity structure of the disk. We identify six outstanding questions, some of which will be answered by JUICE, Europa Clipper and Tianwen-4. A major difficulty in answering some questions is overprinting of primordial characteristics by later events.</p>