One of the most interesting applications of crude glycerol (CG) is its use for biogas production via the anaerobic co-digestion (AcoD) process. The main aim of the current study was to provide a comprehensive review on the performance of the AcoD of CG mixed with various substrates. For this purpose, analyses were performed for studies available in the literature wherein one-stage experiments were conducted. To the best of the authors’ knowledge, the present study is the first one which demonstrates an analysis of the main parameters of CG and substrates (e.g., animal manure, sewage sludge, cattle manure and food waste) used for AcoD. Moreover, a detailed analysis of the impact of selected parameters on AcoD performance was carried out. It is demonstrated that the values of key parameters characterizing the CG used for AcoD were within wide ranges. This can be explained by the fact that the composition of CG depends on many factors; for instance, these include the source of oil used for biodiesel production, processing technology, the ratio of reactants, the type of catalyst and the procedure applied. Moreover, performing a literature review allowed us to demonstrate that adding CG to feedstock caused the enhancement of process performance compared to results obtained for mono-digestion. Additionally, it was shown that, in general, increasing the concentration of CG in feedstock led to improvement of the biogas yield; however, a potential inhibitory effect should be considered. Analysis of data available in the literature allowed us to indicate that for most of the experiments performed, a methane (CH4) content in biogas higher than 60% was obtained for CG content in feedstock up to 8% v/v. In addition, it is demonstrated that in order to evaluate the performance of AcoD performed under thermophilic conditions, more studies are required. Finally, it should be pointed out that the present study provides considerable insight into the management of CG.