This article investigates the use of depth sensors in applications created to preserve the quality of life in older adults. The increase in the numbers in the elderly population, as well as the popularization of structured-light-based sensors, motivate the investigation on how these devices can be used to promote quality of life to the elderly, especially in the prevention of falls. Initially, we present a comprehensive review of the applications of depth sensors in several areas, varying from surveillance and interactive systems to computer-vision applications and three-dimensional (3-D) modeling. Next, we focus on the use of depth sensors in applications to prevent, detect, and address the consequences of falls among the elderly. Our conclusion is that structured-light depth sensors are a viable alternative to develop applications that promote quality of life among the elderly, provided that physical and cognitive issues introduced by aging are considered.