The next-generation blockchain ecosystem is expected to integrate both homogeneous and heterogeneous distributed ledgers. These systems require operations across multiple blockchains to enrich advanced functionalities for future applications. However, the development of blockchain interoperability involves much more complexity regarding the variety of underlying architectures. Guaranteeing the properties of ACID (Atomicity, Consistency, Isolation, Durability) across diverse blockchain systems remains challenging. To clear the fog, this article accordingly provides a comprehensive review of the current progress of blockchain interoperability. We explore the general principles and procedures for interoperable blockchain systems to highlight their design commons. Then, we survey practical instances and compare state-of-the-art systems to present their unique features between distinct solutions. Finally, we discuss critical challenges and point out potential research directions. We believe our work can provide an intuitive guideline for newcomers and also promote rapid development in terms of blockchain interoperability.