Polymeric micelles are nanoassemblies that are formed by spontaneous arrangement of amphiphilic block copolymers in aqueous solutions at critical micelle concentration (CMC). They represent an effective system for drug delivery of, for instance, poorly water-soluble anticancer drugs. Then, the development of polyion complexes (PICs) were emphasized. The morphology of these complexes depends on the topology of the polyelectrolytes used and the way they are assembled. For instance, ionic-hydrophilic block copolymers have been used for the preparation of PIC micelles. The main limitation in the use of PIC micelles is their potential instability during the self-assembly/disassembly processes, influenced by several parameters, such as polyelectrolyte concentration, deionization associated with pH, ionic strength due to salt medium effects, mixing ratio, and PIC particle cross-linking. To overcome these issues, the preparation of stable PIC micelles by increasing the rigidity of their dendritic architecture by the introduction of dendrimers and controlling their number within micelle scaffold was highlighted. In this original concise Review, we will describe the preparation, molecular characteristics, and pharmacological profile of these stable nanoassemblies.