Digital Twin (DT) concept has recently emerged in civil engineering; however, some problems still need to be addressed. First, DT can be easily confused with Building Information Modelling (BIM) and Cyber-Physical Systems (CPS). Second, the constituents of DT applications in this sector are not well-defined. Also, what the DT can bring to the civil engineering industry is still ambiguous. To address these problems, we reviewed 468 articles related to DT, BIM and CPS, proposed a DT definition and its constituents in civil engineering and compared DT with BIM and CPS. Then we reviewed 134 papers related to DT in the civil engineering sector out of 468 papers in detail. We extracted DT research clusters based on the co-occurrence analysis of paper keywords' and the relevant DT constituents. This research helps establish the state-of-the-art of DT in the civil engineering sector and suggests future DT development
