Beam pumping units play a key role in oil extraction. There is an increasing demand for optimal oil-extracting performance as operational environments are becoming more challenging and complex. Therefore, it is vital to create an acceptable mathematical model and develop robust control mechanisms. In the past decades, researchers have achieved fruitful results regarding modeling and control methods in this field. This article provides a comprehensive review of the research on modeling and control methods for beam pumping units, including mathematical models based on differential equations and boundary conditions, as well as the control strategies designed. Finally, future perspectives and recommendations are presented.