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The integration of electricity, gas, and heat (cold) in the integrated energy system (IES) breaks the limitation of every single energy source, which is the development trend of future energy systems. To realize the coordinated planning of “source-network-load-storage,” the IES has to be conducive to improving energy efficiency, bringing economic and environmental benefit, and achieving sustainable development of energy. In this paper, the techniques and methods involved in IES planning are summarized. First, the structure and characteristics of the IES are briefly introduced. Second, the key findings of the IES planning are summarized from four perspectives: source, network, load, and storage. Then, the modeling methods of the IES collaborative planning are summarized, and the optimization methods for solving complex planning problems are analyzed. Compared with previous reviews, this paper focuses on the modeling of multi-energy coupling of each part of source-network-load-storage and modeling of the overall collaborative planning. Finally, the future research direction of IES planning is forecast.