Textile radio-frequency identification operating in ultra-high frequency (UHF-RFID) sensors based on different scenarios are becoming attractive with the forthcoming internet of things (IoT) era and aging society. Compared with conventional UHF-RFID sensors, textile UHF-RFID sensors offer the common textile features, light weight, washability and comfort. Due to the short time and low level of development, researches on the integration of textile UHF-RFID techniques and textile sensing techniques are not flourishing. This paper is motivated by this situation to identify the current research status. In this paper, we provide a systematic review of the fundamentals of textile UHF-RFID sensors techniques, materials, the brief history and the state-of-the-art of the scenario-based development through detailed summary and analysis on the achievements from the starting year of 2004 to the present time. Moreover, according to the analysis, we give a proposal of the future prospects in several aspects, including the new materials and manufacturing processes, machine learning technology, scenario-based applications and unavoidable reliability.