Sensory　perception　for　dexterous　robotic　hands　is　an　active　research　area　and　recent　progress　in　robotics.　Effective　dexterous　manipulation　requires　robotic　hands　to　accurately　feedback　their　state　or　perceive　the　surrounding　environment.　This　article　reviews　the　state-of-the-art　of　sensory　perception　for　dexterous　robotic　manipulation.　Two　types　of　sensors,　such　as　intrinsic　and　extrinsic　sensors,　are　introduced　according　to　their　function　and　layout　in　robotic　hands.　These　sensors　provide　rich　information　to　a　robotic　hand,　which　contains　the　posture,　the　contact　information　of　objects,　and　the　physical　information　of　the　environment.　Then,　a　comprehensive　analysis　of　perception　methods　including　planning-level,　control-level,　and　learning-level　perceptions　is　presented.　The　information　obtained　from　sensory　perception　can　help　robotic　hands　to　make　decisions　effectively.　Previously　issued　reviews　mainly　focus　on　the　design　of　tactile　senor,　while　we　analyze　and　discuss　the　relationship　among　sensing,　perception,　and　dexterous　manipulation.　Some　potential　research　topics　on　sensory　perception　are　also　summarized　and　discussed.