Over recent decades, the role of torsion in gravity has been extensively investigated along the main direction of bringing gravity closer to its gauge formulation and incorporating spin in a geometric description. Here we review various torsional constructions, from teleparallel, to Einstein–Cartan, and metric-affine gauge theories, resulting in extending torsional gravity in the paradigm of f ( T ) gravity, where f ( T ) is an arbitrary function of the torsion scalar. Based on this theory, we further review the corresponding cosmological and astrophysical applications. In particular, we study cosmological solutions arising from f ( T ) gravity, both at the background and perturbation levels, in different eras along the cosmic expansion. The f ( T ) gravity construction can provide a theoretical interpretation of the late-time universe acceleration, alternative to a cosmological constant, and it can easily accommodate with the regular thermal expanding history including the radiation and cold dark matter dominated phases. Furthermore, if one traces back to very early times, for a certain class of f ( T ) models, a sufficiently long period of inflation can be achieved and hence can be investigated by cosmic microwave background observations—or, alternatively, the Big Bang singularity can be avoided at even earlier moments due to the appearance of non-singular bounces. Various observational constraints, especially the bounds coming from the large-scale structure data in the case of f ( T ) cosmology, as well as the behavior of gravitational waves, are described in detail. Moreover, the spherically symmetric and black hole solutions of the theory are reviewed. Additionally, we discuss various extensions of the f ( T ) paradigm. Finally, we consider the relation with other modified gravitational theories, such as those based on curvature, like f ( R ) gravity, trying to illuminate the subject of which formulation, or combination of formulations, might be more suitable for quantization ventures and cosmological applications.