<p>Hyper-redundant manipulators are constructed by aligning multiple parallel mechanisms, each considered a module. When these manipulators are exclusively composed of discrete actuators, they are termed discretely actuated hyper-redundant manipulators (DAHRMs). These actuators are limited to a finite set of states. DAHRMs offer streamlined control, enhanced repeatability, precision, and cost-effectiveness compared to their continuous counterparts. However, their practical application is limited due to their discrete and uneven motion. This raises questions about the practicality of DAHRMs over conventional continuous manipulators. Our review examines the range of DAHRMs developed to date, analyzing their design intents, features, capabilities, and limitations. This article aims to provide researchers and robotic designers with a comprehensive understanding of DAHRMs, enabling them to make informed, expert decisions.</p>