Adult learning theories significantly shape the design and implementation of education programs, especially those for healthcare professionals. However, their diverse applications in health profession education often occurred due to insufficient awareness about these theories and their practical implementation. This chapter aims at equipping educators with the main learning theories, which help in informing their instructional strategies, learning objectives, and evaluation approaches, ultimately enhancing educational programs, and improving student learning experiences. This chapter delves into identifying the main four learning theories relevant to medical education professions and health sciences. It is synthesized to highlight the background history of adult learning theories, which started in the late seventeenth century and are still evolving till now. Each theory is discussed in detail, including specific examples from health and medical education. The encountered challenges and limitations of incorporating adult learning theories in medical education—including time constraints, limited resources, the need to balance clinical responsibilities with learning activities, assessment difficulties, and insufficient faculty development—are discussed, along with suggestions to address these issues.