In recent years, the rapid development of Internet technology and Web applications has triggered the explosion of various data on the Internet, which generates a large amount of valuable knowledge. How to organize, represent and analyze these knowledge has attracted much attention. Knowledge graph was thus developed to organize these knowledge in a semantical and visualized manner. Knowledge reasoning over knowledge graph then becomes one of the hot research topics and plays an important role in many applications such as vertical search and intelligent question-answer. The goal of knowledge reasoning over knowledge graph is to infer new facts or identify erroneous facts according to existing ones. Unlike traditional knowledge reasoning, knowledge reasoning over knowledge graph is more diversified, due to the simplicity, intuitiveness, flexibility, and richness of knowledge representation in knowledge graph. Starting with the basic concept of knowledge reasoning, this paper presents a survey on the recently developed methods for knowledge reasoning over knowledge graph. Specifically, the research progress is reviewed in detail from two aspects:One-Step reasoning and multi-step reasoning, each including rule based reasoning, distributed embedding based reasoning, neural network based reasoning and hybrid reasoning. Finally, future research directions and outlook of knowledge reasoning over knowledge graph are discussed.