Abstract Millimeter wave (mmWave) technology has rapidly evolved into one of the critical components of the 5th generation of mobile communication networks and beyond (5G/B5G), with its abundant spectrum resources and extremely high data transmission rate. However, highly variable mmWave channels pose unique challenges to transport layer protocols and end-to-end applications, such as link quality judgment, rate adaptation, bufferbloat, and beam misalignment. In recent years, various protocols have emerged for improving the adaptability between the Transmission Control Protocol (TCP) of the transport layer and the mmWave communication system of the physical layer. This paper provides a comprehensive survey of the performance, causes, and improvements of TCP over mmWave networks. We analyze the details of the problems of TCP transmission in mmWave networks and summarize the progress of research on TCP over mmWave by classifying various methods into four categories including new congestion control algorithms, retransmission proxies, multiple paths and machine learning-based protocols. We conclude by exposing and discussing further open research challenges.