Today’s society relies upon the smooth and secure functioning of the mission-critical infrastructures and their services. Much of this critical infrastructure relies on the complex cyber-physical systems and the industrial control systems. In recent years, securing these two types of systems has been a top priority due to a significant increase in number of attacks. Most of these systems are often several decades old, and they were developed without significant consideration of the security requirements. As such, there is an urgent need to protect these cyber-physical and industrial systems from external vulnerabilities. In this paper, we present a survey of the cyber-physical and industrial control systems, and explore the possibility and necessity for security of such systems. We discuss the various types of cyber-physical and industrial control systems currently being used, assess the vulnerabilities of such systems, discuss the literature on the cyber-physical and industrial control systems, and examine some works that propose security standards and models for these types of systems.