Embodied intelligence emphasizes that the intelligence is affected by the tight coupling of brain, body and environment. It is continuously and dynamically generated through the process of information perception and physical interaction with the environment. During the past years, the research scope of embodied intelligence has also been expanding and it has attracted great attentions from various communities. At the same time, a significant amount of research related to embodied intelligence has been introduced, particularly in the last few years. In this chapter, we present a comprehensive survey of embodied intelligence, viewing it as a synergy of morphology, action, perception and learning, along with a thorough summary and categorization of existing studies. Specifically, as the embodied intelligence is a synergy of all these components rather than themselves alone, we mainly focus on the connections across these four components (morphology, action, perception and learning) and identify areas where future research can benefit from their intrinsic connections.