Triboelectric nanogenerators (TENGs) that utilize triboelectrification and electrostatic induction to convert mechanical energy to electricity have attracted increasing interest in the last 10 years. As a universal physical phenomenon, triboelectrification can occur between any two surfaces that experience physical contact and separation regardless of the type of material. For this reason, many materials, including both organic and inorganic materials, have been studied in TENGs with different purposes. Although organic polymers are mainly used as triboelectric materials in TENGs, the application of inorganic nanomaterials has also been intensively studied because of their unique dielectric, electric, piezoelectric, and optical properties, which can improve the performance of TENGs. A review of how inorganic nanomaterials are used in TENGs would help researchers gain an overview of the progress in this area. Here, we present a review to summarize how inorganic nanomaterials are utilized in TENGs based on the roles, types, and characteristics of the nanomaterials.