Heparan sulfate proteoglycan(HSPG) is found in the extracellular matrix and composed of a core protein and heparan sulfate. HSPG may be categorized into four families, namely, syndecans, glypicans, perlecans, and agrins, all of which broadly participate in various processes from axonal growth and motor end-plate recovery to skeletal muscle cell regeneration. This review focuses on HSPG and its guiding function in the axonal growth process. It also discusses changes in the neuronal damage expression-repair process and the function of HSPG in the formation process of neural muscle junctions.