Topological states nurtures the emergence of devices with unprecedented functions in photonics, plasmonics, acoustics and phononics. As one of the recently discovered members, higher-order topological insulators (HOTIs) have been increasingly explored, featuring lower-dimensional topological boundary states, leading to rich mechanisms for topological manipulation, guiding and trapping of classical waves. Here, we provide an overview of current developments of HOTIs in classical waves including basic principles, unique physical properties, various experimental realizations, novel phenomena and potential applications. Based on these discussions, we remark on the trends and challenges in this field and the impacts of higher-order topology on other research fields.