In this article, we reviewed the anatomical structure and function of the central nerve nucleus related to balance function. Focusing on the vestibular nucleus, we not only described the vestibular-cerebellar pathway, the vestibular-ocular reflex pathway, the vestibular-autonomic reflex pathway, the vestibular-thalamic pathway, the vestibular-spinal cord pathway, and the vestibular central pathway, we also reviewed the neural pathways within the various central nerve nuclei involved in balance perception and regulation. This review article may provide helpful information to further understand the mutual influence of each central nerve nucleus in the process of balance perception, regulation and compensation.