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Over the past two decades, the field of civil engineering has witnessed a remarkable transformation with the integration of robotic technology in civil and infrastructures inspection. Robotic drone arms have emerged as a pivotal tool, offering unparalleled access to hard-to-reach areas and enabling comprehensive assessments of civil structures. This article presents a comprehensive review of the advancements, challenges, and applications of robotic drone arms for civil structure inspection over the last two decades. This article discusses the key developments in types of robotic drone arms, real-world applications, success stories, current challenges and future directions for civil and infrastructure inspection.