<p>With the accelerated pace of urbanization, the demand for the development and utilization of urban underground space is steadily increasing. However, the complex environment of urban underground space and the stringent requirements for survey operations pose significant challenges to the application of conventional underground exploration methods. Non-destructive investigation (NDI) techniques, as a non-invasive, cost-effective, and efficient means of exploration, have emerged as crucial solutions to the challenges of urban underground space surveying. This paper aims to summarize the recent advancements in various urban NDI techniques, encompassing multidisciplinary geophysical exploration methods such as electrical methods, electromagnetic methods, and seismic methods, and to analyze the strengths and development trends of each approach. Furthermore, this study explores the integration of emerging intelligent technologies, primarily involving drone technology and machine learning algorithms, within the urban NDI domain, highlighting innovative applications. The future developments of urban underground space investigation are discussed, emphasizing that the integration of multidisciplinary technologies and the promotion of artificial intelligence will provide robust technical support for the scientific development and management of urban underground space.</p>