Advanced composite materials have garnered widespread attention in the aerospace and other fields with stringent weight requirements, owing to their superior properties, such as lightweight, high strength, high modulus, and corrosion resistance. Compared with traditional metal materials, advanced composite materials can reduce structural weight by 30%. Lattice structures possess unique characteristics, including high designability, low cost, and high damage tolerance. As a specialized reinforced structure, they have been identified as one of the key structural configurations for next-generation aircraft. Composite lattice structures, which integrate the advantages of composite materials and lattice architectures, provide an ideal structural material for achieving lightweight and multifunctional aerospace equipment. However, due to the intricate geometries and diverse functional design requirements of lattice structures, the fabrication of these structures presents significant challenges, and there is an increasing amount of research on improving the accuracy and performance of composite lattice structures. The expandable mold process represents an approach for manufacturing composite lattice structures, where pneumatic pressure from rubber expansion enables consolidation of the lattice assembly during elevated-temperature curing to achieve the finished composite part. This study reviews composite lattice structures, verifies the feasibility of using rubber as an expansion mold by investigating the thermal stability and expansion properties, and then prepares composite lattice structures via the expandable mold technique. Additionally, composite lattice structures are prepared using laminated machining, an interlocking process, and a 3D printing process. The advantages and disadvantages of different process methods for forming composite lattice structures are compared, and finally, the future trends in high-performance lattice development are discussed.