Brain-Computer Interface (BCI) controlled Functional Electrical Stimulation (FES) is an emerging rehabilitation technology in recent years. This technology primarily works by monitoring the motor intention signals emitted from the patient’s brain via BCI and converting these signals into control commands to drive the FES device, thereby helping the patient achieve intended movements through corresponding electrical stimulation. Compared to traditional rehabilitation techniques, it can more effectively promote limb function recovery in patients with central nervous system injuries. This article reviews the technology of BCI-FES, its mechanisms of action, and the current state of its application in clinical rehabilitation, aiming to provide theoretical foundations for the rehabilitation of central nervous system diseases and the promotion and use of BCI-FES.