The wave of digital transformation is on the rise, and building a digital world corresponding to the physical world is likely to become the trend of future development and the foundation to support a great variety of intelligent applications. In the process of digital modeling, digital twin modeling language plays an important role. In this paper, we explain the related concepts, sort out the basic information and description form of commonly used digital twin modeling languages, such as asset administration shell and digital twin definition language, analyze the related key technologies, including the semantic enhancement of digital twin languages, and the construction and transformation of digital twin models. This paper can provide reference for the research in related fields.