Esterases (serine proteases) were used in organisms to catalyze the hydrolysis of many compounds containing esters, amides, thioesters, or acetyl groups. In vivo, esterases play an important role in the regulation of physiological events and the hydrolysis or activation of various drugs and in many pathological events (such as liver cancer), which may be closely related to its unique detoxification function. Therefore, the development of a new and effective esterase detection platform is of great significance for biological and medical research. Compared with traditional methods, fluorescent probes have many advantages such as high sensitivity, good selectivity, rapid response, low cost, and easy operation. Therefore, fluorescent probes can applied for esterase detection. Herein, the research status and latest progresses of esterase fluorescent probes were introduced.