Three-dimensional （3D） trajectory measurement technology for underground pipelines plays a vital role in ensuring pipeline construction safety， accident prevention， and emergency response. The 3D trajectory measurement of pipelines encompasses three phases： pre-construction， during construction， and post-construction. This paper systematically reviews the current research progress in 3D trajectory measurement technology for underground pipelines. Pre-construction trajectory measurement primarily employs geophysical detection technologies， such as electromagnetic detection and ground-penetrating radar （GPR）. During construction， handheld guidance devices are widely used for trajectory monitoring， while post-construction measurement relies on dedicated trajectory measurement instruments. This paper analyzes the fundamental principles， technical status， and application challenges of these methods， and discusses the advantages of integrated detection approaches. Future development directions include digital twin systems for real-time drilling monitoring， multi-method fusion， intelligent cloud-based IoT platforms， and 3D trajectory virtual reality visualization technologies， all aimed at improving measurement accuracy， efficiency， and intelligence. This study aims to provide references for further research and applications of 3D trajectory measurement technology for underground pipelines.