A comprehensive overview is given of the literature on slip transmission criteria for grain boundaries in metals, with a focus on slip system and grain boundary orientation. Much of this extensive literature has been informed by experimental investigations. The use of geometric criteria in continuum crystal plasticity models is discussed. The theoretical framework of Gurtin (J Mech Phys Solids 56:640-662, 2008) is reviewed for the single slip case. This highlights the connections to slip transmission criteria from the literature that are not discussed in the work itself. Different geometric criteria are compared for the single slip case with regard to their prediction of slip transmission. Perspectives on additional criteria, investigated in experiments and used in computational simulations, are given.