Although a significant amount of work has been carried out for visual perception in the context of unmanned aerial vehicles (UAVs), not so much has been done regarding auditory perception. The latter can complement the observation of the environment that surrounds a UAV by providing additional information that can be used to detect, classify, and localize audio sources of interest. Motivated by the usefulness of auditory perception for UAVs, we present a literature review that discusses the audio techniques and microphone configurations reported in the literature. A categorization of techniques is proposed based on the role a UAV plays in the auditory perception (is it the one being perceived or is it the perceiver?), as well as a set of objectives that are more popularly aimed to be accomplished in the current literature (detection, classification, and localization). This literature review aims to provide a concise landscape of the most relevant works on auditory perception in the context of UAVs to date and provides insights into future avenues of research as a guide to those who are beginning to work in this field. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.