With the rapid development of biotechnology and nanomedicine, extensive research has focused on the investigations of delivering large-cargo molecules using nanoparticles through the cell membrane for disease diagnosis and treatment. Various inorganic and polymeric nanoparticles with optimized surface properties have been developed to carry these active cargo molecules such as organic molecules, oligonucleotides and proteins. Phagocytosis and pinocytosis have been suggested as the two major uptake mechanisms for nanoparticles to enter into cellular interior, but such mechanisms are still under debate. In order to enhance the efficiency of cellular uptake of nanoparticles and further understand the physiological process, it is important to investigate detailed interaction mechanisms between nanoparticles and cell membranes. Here, we will review the recent advances of the effect of nanoparticle properties (e.g., nanoparticle shape, size, charge, surface modification, etc.) on cellular uptake mechanisms. These will aid in the future design and development of nanoparticles with improved surface properties for drug and biomolecule delivery. Up to now, novel analytical techniques have been used to examine nanoparticle-cell membrane interactions, but their detailed uptake mechanisms and pathways still need more in-depth research. It is suggested that developing appropriate analytical techniques to study cellular uptake mechanisms of nanoparticles in real time is urgently desired.