Titanium and its alloys have excellent biological properties for wide used as dental and orthopedic implant materials. However, titanium is an inert material and cannot be directly osseointegrated with bone after its implantation. Therefore, surface biological modification of pure titanium and its alloy has been a research focus in the field of biological materials. Arginine–glycine–aspartic acid(RGD) peptides, namely, the RGD tripeptide sequence, are a candidate protein in the surface modification of titanium, which are widely present in fibronectin, vitronectin, bone salivary gland proteins, and other extracellular matrix proteins, and can regulate adhesion behavior of cell-serum and cell-extracellular matrix. Therefore, this article seeks to review the study and progression on surface biological modification of pure titanium and its alloys treated by RGD peptide and its derivatives.