<p>Structures and waves are common features of solar wind turbulence at various scales. The interplay between structures and waves is important for processes such as the turbulent energy cascade, plasma heating, and particle scattering. Our understanding of turbulence has been advanced by not only new space missions and numerical simulations, but also techniques that have been developed to interpret the rapidly growing turbulence data. We review basic models of turbulence with a specific focus on the analysis methods for understanding magnetic structures and waves. MHD and kinetic waves in single-spacecraft time series measurements can be identified through mode decomposition or their characteristic polarization signatures. The structures in this paper are considered as zero-frequency, non-propagating or convected modes embedded in the solar wind. The synergy between observations and simulations is most evident in the application of spatial-temporal analysis to multi-spacecraft observation and turbulence simulations. The spatial-temporal analysis has greatly improved our understanding of structures and waves in turbulence. We conclude by discussing prospects for future research.</p>