To benefit from the exploration of their bodies and their physical and social environments, infants need to detect sensorimotor contingencies linking their actions to sensory feedback. This ability, which seems to be present in babies from birth and even in utero, has been widely used by researchers in their study of early development. However, a careful review of the literature, particularly the recent literature, suggests that babies may not be uniformly sensitive to all sensorimotor contingencies. This literature review examines in detail sensorimotor contingency detection in infants before the age of 1 year. Four aspects of sensorimotor contingency detection are considered: characteristics of action and feedback, contingency parameters, exposure conditions, and interindividual differences. For each topic, we highlight what favors and what hinders the detection of sensorimotor contingencies in infants. Our review also demonstrates the limitations of our knowledge about sensorimotor contingency detection. We emphasize the importance of making progress in this field at a time when sensorimotor contingency detection is of major interest in developmental robotics and artificial intelligence.