Radio-frequency (RF) heating, as a thermal-processing technology, has been extending its applications in the food industry. Although RF has shown some unique advantages over conventional methods in industrial drying and frozen food thawing, more research is needed to make it applicable for food safety applications because of its complex heating mechanism. This review provides comprehensive information regarding RF-heating history, mechanism, fundamentals, and applications that have already been fully developed or are still under research. The application of mathematical modeling as a useful tool in RF food processing is also reviewed in detail. At the end of the review, we summarize the active research groups in the RF food thermal-processing field, and address the current problems that still need to be overcome.