<p>Today, embedded systems and Cyber-Physical Systems (CPS) are increasingly powered by Systems-on-Chip (SoCs) and Networks-on-Chip (NoCs). SoCs are specialized, often reconfigurable devices that integrate hardware components and software to increase performance, flexibility, and time-to-market. With increasing design complexity and heterogeneity, designers have begun incorporating third-party hardware and software components into their designs. Traditional SoC security methods rely on perimeter-based trust assumptions, which are inadequate in protecting against emerging Trojans, privilege escalation, and software attacks introduced via third-party IPs or post-deployment infection. The Zero-Trust Architecture (ZTA) promotes ’never trust, always verify,’ requiring continuous validation of every asset and transaction. Although intended to protect traditional networking security solutions, it is generalizable to SoC and NoC environments. This survey assesses the state-of-the-art security of SoC and NoC, their adherence to ZTA’s core tenets, and the applicability of existing ZTA mechanisms to vulnerabilities in SoC and NoC. Of 45 SoC and NoC security solutions reviewed, and three works in the overlap of SoC and ZTA, none fully adhered to the tenets of Zero-Trust. They lacked encryption, per-session authorization, fine-grained access controls, and continuous verification. The analysis of these works identified four key research areas: real-time trust calculations and machine learning methods for resource-constrained hardware, dynamic fine-grained access control policies, SoC-capable verification methods, and the implementation of existing ZTA methods in SoCs.</p>