The escalating energy and environmental challenges have catalyzed a global shift toward seeking more sustainable, economical, and eco-friendly energy solutions. Water, capturing 35% of the Earth’s solar energy, represents a vast reservoir of clean energy. However, current industrial capabilities harness only a fraction of the energy within the hydrological cycle. The past decade has seen rapid advancements in nanoscience and nanomaterials leading to a comprehensive exploration of liquid–solid triboelectrification as a low-carbon, efficient method for water energy harvesting. This review explores two fundamental principle models involved in liquid–solid triboelectrification. On the basis of these models, two distinct types of water energy harvesting devices, including droplet-based nanogenerators and water evaporation-induced nanogenerators, are summarized from their working principles, recent developments, materials, structures, and performance optimization techniques. Additionally, the applications of these nanogenerators in energy harvesting, self-powered sensing, and healthcare are also discussed. Ultimately, the challenges and future prospects of liquid–solid triboelectrification are further explored.