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Fiber-reinforced polymer (FRP) composites have been widely used for strengthening or constructing structures due to their excellent corrosion resistance and high tensile strength. An emerging hybrid structural member form with FRP composites—which consist of a steel section as internal reinforcement, an external FRP wrap/tube, and concrete filled between them (referred to as FRP-confined steel-reinforced concrete (FCSRC) systems)—has attracted increasing research interest. To date, the concept has been adopted to strengthen/repair steel structures or used as new hybrid structural members (e.g., hybrid columns or beams, including buckling restrained braces (BRBs)). The FRP confinement and composite action between the three components in FCSRCs result in the excellent performance of the hybrid member. This paper presents a state-of-the-art review of FCSRCs for structural applications. The gaps in knowledge and future research opportunities on FCSRC structural members are also identified.