Abstract: A cyber-physical system (CPS) is an intelligent system that integrates computing, communication, and control to achieve network and physical deep collaboration and organic integration. Presently, CPSs play an increasingly important role in many areas, such as key infrastructure and government agencies. Due to physical limitations, security vulnerabilities generated by computers and networks can cause huge damages to CPS and also cause chain reactions such as economic losses and social unrest; therefore, studying the security of CPS is of great significance for ensuring the safe operation of the system. We summarize the latest developments in CPS security control and attack detection based on the research status at home and abroad. First, we summarize the typical system modeling of CPS to meet the needs of the system performance analysis. Then we introduce three typical network attacks, namely denial-of-service attacks, replay attacks, and spoofing attacks. The development of CPS attack detection based on the type of detection method is reviewed, and the system's safety control and state estimation are also discussed. Finally, we summarize and forecast the challenges and future research directions of CPS network security.