Ion cyclotron waves (ICWs) are one kind of plasma waves whose frequency is close to the ion cyclotron frequency. They exist widely in the upstream of Mars, and the frequency observed by satellites is generally near the proton cyclotron frequency. ICWs are byproducts in the production processes of pick-up ions. The occurrence of ICWs constitutes, in principle, an indirect signature of the presence of newborn planetary protons. ICWs upstream of Mars have received much attention since they were first reported in 1990. In this review, we summarize the research progress of ICWs in the upstream of Mars, including the observation of ICWs, the wave generation mechanism, their statistical properties and related future research trends.