In 1998, the Super-Kamiokande discovered neutrino oscillation using atmospheric neutrino anomalies. It was the first direct evidence of neutrino mass and the first phenomenon to be discovered beyond the standard model of particle physics. Recently, more precise measurements of neutrino oscillation parameters using atmospheric neutrinos have been achieved by several detectors, such as Super-Kamiokande, IceCube, and ANTARES. In addition, precise predictions and measurements of atmospheric neutrino flux have been performed. This paper presents the history, current status, and future prospects of the atmospheric neutrino observation.