Friction stir welding/processing (FSW/P) involving temperature, mechanics, metallurgy and interaction, is a complex solid state joining and processing technology. FSW has been widely applied to join aluminum alloy, titanium alloy and other materials which are difficult to weld by fusion welding. The last scientific study states that FSW has potential to join thermoplastic polymers and polymer matrix composites. In this review, current understanding and development about FSW of thermoplastic polymers and polymer matrix composites, multifunctional composites fabrication as well as dissimilar FSW of metal and polymer are reviewed. Future scientific research and engineering development related to FSW/P of thermoplastic polymers and polymer matrix composites are identified.