Cyber-physical systems (CPS), which seamlessly integrate computational and physical processes, are becoming central to critical infrastructure, manufacturing, healthcare, and smart cities. However, their increasing connectivity and complexity expose significant cyber security vulnerabilities, posing risks to both the digital and physical worlds. This paper reviews recent advancements in CPS cyber security, focusing on threats that compromise system integrity, availability, and safety. Key vulnerabilities include weak authentication mechanisms, insecure communication protocols, software flaws, and inadequate monitoring of legacy systems. These issues enable sophisticated attacks such as data injection, denial-of-service, firmware tampering, and system intrusions, which significantly disrupt physical processes. The unique real-time operational requirements of CPS, constraints of embedded devices, and the convergence of IT and OT further complicate security implementation. Traditional IT security measures often fall short due to the safety–critical nature of CPS operations and their strict time constraints. Addressing these challenges demands innovative solutions, including low-overhead cryptographic methods, real-time attack detection sensors, and robust architectures that ensure uninterrupted functionality despite limited computing resources. This paper also highlights future research opportunities, stressing the importance of integrating security measures into CPS design processes. By focusing on adaptability and alignment with occupational health programs, this study underscores the critical need for proactive and comprehensive cybersecurity strategies in CPS development.