Radar jamming waveform design is a vital part of radar jamming. Over seven to eight decades of evolution, the field has transitioned from noise signal design to coherent jamming signal design, resulting in a multitude of complex jamming styles capable of achieving deceptive jamming, suppressive jamming, and smart noise jamming, which combines both deception and suppression. For the first time, this article establishes a general formula for unifying jamming waveform design. Building upon this foundation, we systematically categorize jamming techniques, and provide an in-depth summary of the corresponding principles and conduct comparative analysis of their effectiveness against different targets. Finally, we look forward in terms of future research directions in jamming waveform design, including quantifiable jamming effect evaluation indicators, combined jamming styles, and intelligent jamming waveform generation methods to address the continuous advancement of radar technology and the complexity and variability of the electromagnetic environment. In order to fill the gap in the literature by summarizing the current state of the field and highlighting key challenges and opportunities, this review provides a comprehensive overview of radar jamming waveform design, categorizes and compares different jamming techniques, and identifies future research directions.