Sucrose esters (SEs) are surfactants that are widely used in the food and cosmetic industries. In recent years, the application of SEs in the field of medicine is a huge breakthrough due to its good biodegradability, emulsification and solubilization effects, which brings a great interest to the researchers of all over the world. SEs can promote the dissolution, absorption and penetration of the drug, thereby improving drug efficiency and reducing its side effect. There is little review report on the application of sucrose esters in the field of drug delivery. In this paper, the main characteristics of SEs and the recent research progress in their applications in the field of biomedicine are reviewed, some applications of SEs in drug delivery and toxicology research are discussed and summarized. The future opportunities and challenges on the application of SEs in the field of medicine are prospected. The review will provide reference and theoretical support for the further study and clinical application of SEs.