Neural damage has been a great challenge to the medical field for a very long time. The emergence of brain–computer interfaces (BCIs) offered a new possibility to enhance the activity of daily living and provide a new formation of entertainment for those with disabilities. Intracortical BCIs, which require the implantation of microelectrodes, can receive neuronal signals with a high spatial and temporal resolution from the individual’s cortex. When BCI decoded cortical signals and mapped them to external devices, it displayed the ability not only to replace part of the human motor function but also to help individuals restore certain neurological functions. In this review, we focus on human intracortical BCI research using microelectrode arrays and summarize the main directions and the latest results in this field. In general, we found that intracortical BCI research based on motor neuroprosthetics and functional electrical stimulation have already achieved some simple functional replacement and treatment of motor function. Pioneering work in the posterior parietal cortex has given us a glimpse of the potential that intracortical BCIs have to control external devices and receive various sensory information.