Persistent luminescence materials (PLMs) are potential luminescent materials which can remain emitting light after stopping the excitation. PLMs can avoid the autofluorescence of biological tissues, and play an important role in biosensing, targeted imaging and other fields. However, the applications of PLMs are often restricted by their weak persistent luminescence and short decay time after excitation. Doped ions will directly affect the luminescence centers and trap levels of PLMs, thereby leading to great differences in the optical performance of PLMs. Given this, the selection of doped ions to improve the optical performance of PLMs has become a fascinating research direction in recent years. At present, the published reviews mostly focus on the surface modifications and applications of PLMs. However, the influence of doped ions on the structure and optical performance of PLMs is seldom summarized. In this review, the influence of doped ions on the structure and optical performance of PLMs is introduced from three aspects: the type of doped ions, the number of types of doped ions, and the content of doped ions. Furthermore, we highlight recent achievements and mechanisms in the development of PLMs. Finally, we also propose and discuss the future opportunities and current challenges of ion-doped PLMs.