Many food proteins can be assembled into nanofibrils under pH conditions far from the isoelectric point and with a low ionic strength by heating them for a long period. These food protein nanofibrils (FPN) have outstanding functional and biological properties and are considered sustainable biomaterials in many fields. In this study, we review the recent developments in FPN gels and introduce the key factors in promoting food protein self-assembly in order to create functional gels. The major variables discussed are the morphology of nanofibrils, protein concentration, heating time, and the type and concentration of salts. We also highlight current advances in the formation and properties of different types of FPN gels. In addition, the various applications of FPN gels in bioactive and nutrient delivery, adsorbents for CO2 and toxic pollutants, cell scaffolding biomaterials, biosensors, and others are introduced and discussed.