The development of urban underground space (UUS) is of great significance for sustainable urban development because it has potential to solve many urban problems. However, the development of UUS is limited because there are still a lot of constraints and challenges. To better understand the constraining factors of developing UUS and improve the development and utilization of UUS, this study conducts a comprehensive survey of existing literature retrieved from the Web of Science Core Collection database. Five main constraining factors, including the limited geological conditions, high cost, lack of natural light and ventilation, high incidence, and difficulty in collecting data and information on UUS, have been discussed to better understand how they affect the development of UUS. Based on the survey, the critical success factors of developing UUS, such as the effective governance structure, planning system for integrating UUS into urban development, coordination of the design of ground and underground, delineation of land property rights of UUS, and application of information techniques in the use of UUS, have been identified and discussed. In addition, knowledge gaps in the studies on development of UUS have been identified. Finally, the research trends and future directions have been proposed for better understanding and practice of UUS development.