The diameter of fibers is a critical factor in determining their final applications. When the diameter of aramid fibers changes from microns to nanoscale, its range of applications will be greatly extended. In this short review, the preparation of aramid nanofibers (ANFs) with diameters from ten nanometers to more than one hundred nanometers is introduced. Due to their excellent mechanical properties and their chemical and thermal stability, ANFs have been widely used as novel nanomaterials and composited with other materials, mainly for use in reinforced composites, energy storage, filtration and adsorption, biomedicine and electromagnetic fields. In this short review, the application of ANFs and their composites during the last 10 years is concisely summarized and a brief perspective on ANFs and their composites is also presented.