This article presents a review of current research activities on the hybrid heterostructures of inorganic nanostructures grown directly on graphene layers, which can be categorized primarily as zero-dimensional nanoparticles; one-dimensional nanorods, nanowires, and nanotubes; and two-dimensional nanowalls. For the hybrid structures, the nanostructures exhibit excellent material characteristics including high carrier mobility and radiative recombination rate as well as long-term stability while graphene films show good optical transparency, mechanical flexibility, and electrical conductivity. Accordingly, the versatile and fascinating properties of the nanostructures grown on graphene layers make it possible to fabricate high-performance optoelectronic and electronic devices even in transferable, flexible, or stretchable forms. Here, we review preparation methods and possible device applications of the hybrid structures consisting of various types of inorganic nanostructures grown on graphene layers.