A review is presented on the state-of-the-art methods for geometric and biomechanical assessments of residual limb tissues. Residual limb assessments are needed throughout different stages of prosthetic management, namely preamputation, residual limb maturation, prosthetic design, prosthetic fitting, and subsequent follow-ups. Geometric assessments include the monitoring of the volumetric change as the residual limb matures after amputation. Geometric and biomechanical assessments of the residual limb are important considerations in prosthetic design. Quantitative geometric and biomechanical assessments are becoming more important in the development of a computer-aided system for prosthetic socket design. It is noted that, except for the external shape measurements of residual limbs, most of the instruments used in residual limb assessment are not particularly cost-effective for clinical applications in prosthetics. Further developments are needed to facilitate the incorporation of the internal geometric assessments and biomechanical assessments into the current computer-aided design systems for clinical prosthetics.