This article is intended to review the recent developments in the Horndeski theory and its generalization, which provide us with a systematic understanding of scalar-tensor theories of gravity as well as a powerful tool to explore astrophysics and cosmology beyond general relativity. This review covers the generalized Galileons, (the rediscovery of) the Horndeski theory, cosmological perturbations in the Horndeski theory, cosmology with a violation of the null energy condition, degenerate higher-order scalar-tensor theories and their status after GW170817, the Vainshtein screening mechanism in the Horndeski theory and beyond, and hairy black hole solutions.
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