Amino acids are one of the simplest biomolecules and they play an essential role in many biological processes. They have been extensively used as building blocks for the synthesis of functional nanomaterials, thanks to their self-assembly capacity. In particular, amphiphilic amino acid derivatives can be designed to enrich the diversity of amino acid-based building blocks, endowing them with specific properties and/or promoting self-assembly through hydrophobic interactions, hydrogen bonding, and/or π-stacking. In this review, we focus on the design of various amphiphilic amino acid derivatives able to self-assemble into different types of nanostructures that were exploited for biomedical applications, thanks to their excellent biocompatibility and biodegradability.