Semaphorins is a protein family that contains the same domain. They are widely distributed in the human body and are involved in important physiological and pathological activities, such as organogenesis, angiogenesis, immune responses, and oncogenesis. Recently, a large number of studies indicate that semaphorins and their receptors play important roles in bone remodeling. Moreover, they promote and inhibit osteogenesis by regulating the differentiation and migration of osteoclast and osteoblast. Semaphorins and their receptors also participate in other signaling pathways to influence bone metabolism indirectly and to dysregulate pathway expression. This dysregulation causes various bone diseases, including osteoporosis, osteopetrosis, and osteopenia. This review focuses on the role of semaphorins and their receptors in bone remodeling.