Civil infrastructures are constantly exposed to environmental effects that can contribute to deterioration. Early detection of damage is crucial to prevent catastrophic failures. Structural Health Monitoring (SHM) systems are essential for ensuring the safety and reliability of structures by continuously monitoring and recording data to identify damage-induced changes. In this context, self-sensing composites, formed by incorporating conductive nanomaterials into a matrix, offer intrinsic sensing capabilities through piezoresistivity and various conduction mechanisms. The paper reviews how SHM with self-sensing materials can be applied to civil infrastructure while also highlighting important research articles in this field. The result demonstrates increased dissemination of self-sensing materials for civil engineering worldwide. Their use in core infrastructure components enhances functionality, safety, and transportation efficiency. Among nanomaterials used as additions to produce self-sensing materials in small portions, carbon nanotubes have the most citations and, consequently, the most studies, followed by carbon fiber and steel fiber. This highlight identifies knowledge gaps, benchmark technologies, and outlines self-sensing materials for future research.