This article reviews the recent advancements and future potentials of optical surface imaging (OSI) in clinical applications as a four-dimensional (4D) imaging modality for surface-guided radiotherapy (SGRT), including OSI systems, clinical SGRT, and OSI-based clinical research. The OSI is a non-ionizing radiation imaging modality, offering real-time 3D surface imaging with a large field of view (FOV) suitable for in-room interactive patient setup and real-time motion monitoring during radiotherapy. So far, most clinical SGRT applications have focused on treating superficial breast cancer or deep-seated brain cancer in rigid anatomy, because the skin surface can serve as tumor surrogates and the procedures for breast treatments with deep-inspiration breath-hold (DIBH) and cranial stereotactic radiosurgery (SRS) and radiotherapy (SRT) are well developed. When using the skin surface as a body-position surrogate, SGRT promises to replace traditional tattoo-based setup, but radiographical image-guided radiotherapy (IGRT) is still necessary, especially for stereotactic body radiotherapy (SBRT). SGRT studies in other anatomical sites have shown slightly better accuracy and performance than tattoo-based setup. To infer internal tumor motion, recent studies have shown the clinical potential of OSI-based spirometry to measure dynamic tidal volume as a tumor motion surrogate and Cherenkov surface imaging to guide and assess treatment delivery. As OSI provides complete datasets of body position, deformation, and motion, it offers an opportunity to replace fiducial-based optical tracking systems. Therefore, SGRT has great potentials for further clinical applications. In this review, the OSI technology, applications, and potentials are discussed since its first introduction to radiotherapy in 2005, including technical characterization, different commercial systems, and major clinical applications, including clinical implementation of tattoo-less SGRT. The clinical research for OSI-based tumor tracking is reviewed, including OSI-based spirometry to feed a tumor tracking model. After all, the ongoing clinical research has created more SGRT opportunities for clinical applications beyond the current scope.