Numerical control technology is widely employed in the modern manufacturing industry, and related research has been emphasized by academia and industry. The traditional process of numerical control technology is mainly composed of tool path planning and feedrate interpolation. To attain the machining of high speed and precision, several problems in tool path planning and feedrate interpolation are usually transformed into mathematical optimization models. In view of the complexity of engineering application problems, stepwise iterative optimization method is used to address the problems, but the results are usually only locally optimal. Secondly, both tool path planning and feedrate interpolation are designed to process a workpiece surface. Although the calculation is simplified into two steps, the overall optimization cannot be achieved. Therefore, in order to better undertake the research on the integrated design and optimization idea of tool path planning and feedrate interpolation, it is necessary to systematically review and drawn on the existing representative works. We will introduce the relevant methods and technical progress of tool path planning and feedrate interpolation in CNC machining successively, including tool path planning based on end milling, tool orientation optimization, G-code processing and corner transition, feedrate planning of parameter curves, and some new machining optimization methods proposed recently. Among them, the tool path planning methods can be briefly classified into four categories: iso-parametric methods, iso-planar methods, iso-scallop height methods and the newly proposed methods based on vector field. The tool orientation optimization methods can be divided into local optimization methods considering error constraints and global optimization methods based on C-space. And the recent related work of G-code processing and corner transition mainly includes: micro line segments corner transition methods, spline based global fitting methods and finite impulse response-based methods. For parameter curves, the corresponding feedrate planning methods mainly include acceleration/deceleration-based methods, optimization-based approaches and the methods of integrating smoothness and feedrate. After that, we will introduce some emerging methods and techniques like surface segmentation for subtractive/additive manufacturing and the integrated interpolation methods for tool paths.