In recent years, there has been growing interest in the potential applications of carbon-based non-metallic catalysts in various fields, such as electrochemical energy storage, electrocatalysis, thermal catalysis, and photocatalysis, owing to their unique physical and chemical properties. Modifying carbon catalyst surfaces or incorporating non-metallic heteroatoms, such as nitrogen (N), phosphorus (P), boron (B), and sulfur (S), into the carbon structure has emerged as a promising approach to improve the catalytic performance. This method enables the adjustment of the electronic structure of the carbon catalyst's surface, leading to the formation of new active sites or the reduction of side reactions, ultimately enhancing the catalyst's performance. Here, the preparation methods for doped non-metallic heteroatom carbon catalysts have been systematically explored, encompassing techniques, such as impregnation, pyrolysis, chemical vapor deposition (CVD), and templating. Finally, the existing challenges in the application of non-metallic atomic catalysts have been discussed, insights into potential future development opportunities and new preparation methods of carbon catalysts in the future have been offered.