Quantum key distribution (QKD) constitutes a symmetric secret key negotiation protocol capable of maintaining information-theoretic security. Given the recent advances in QKD networks, they have evolved from academic research to some preliminary applications. A QKD network consists of two or more QKD nodes interconnected by optical fiber or free space links. The secret keys are negotiated between any pair of QKD nodes, and then they can be delivered to multiple users in various areas for ensuring long-term protection and forward secrecy. We commence by introducing the QKD basics, followed by reviewing the development of QKD networks and their implementation in practice. Subsequently, we describe the general QKD network architecture, its elements, as well as its interfaces and protocols. Next, we provide an in-depth overview of the associated physical layer and network layer solutions, followed by the standardization efforts as well as the application scenarios associated with QKD networks. Finally, we discuss the potential future research directions and provide design guidelines for QKD networks.