Prostate cancer is one of the most common malignant tumors among men worldwide, posing a significant threat to male health. Since prostate-specific membrane antigen (PSMA) has been proved to be the preferred biomarker for the diagnosis of prostate cancer, PSMA-targeted radiopharmaceuticals have made significant progress in the diagnosis and therapy of prostate cancer, effectively improving the diagnostic sensitivity and treatment effect of prostate cancer. In this paper, we review the research progress of PSMA-targeted radioactive molecular probes in recent years, analyze the design concept of probe structure and summarize the clinical experience. It is expected to benefit the development of radioactive molecular probes for diagnosis and treatment of prostate cancer.