The Teleo-Reactive approach designed by N. J. Nilsson offers a high-level programming model for the development of reactive systems such as robotic vehicles. Teleo-Reactive programs are written in a way that allows engineers to define behaviour taking account of goals and changes in the state of the environment. Since Nilsson’s original definition, published in 1994, various researchers have used the Teleo-Reactive paradigm, either applied to a particular domain or extended by adding more capabilities to the original definition. This article provides a systematic literature review of 53 previous Teleo-Reactive-based studies in journals, conference proceedings and the like. The aim of this paper is to identify, appraise, select and synthesize all this high-quality research evidence relating to the use of the Teleo-Reactive paradigm. The literature has been systematically reviewed to offer an overview of the present state of this field of study and identify the principal results that have been obtained thanks to the Teleo-Reactive approach. Finally, this article details the challenges and difficulties that have to be overcome to ensure further advances in the use of this technique.