Terahertz (THz) emission from plasma filament driven by ultra-short laser pulses attracts intense interests for revealing the microscopic dynamics of THz generation and providing new THz sources for applications. This review covers the recent progress in the areas including: the generation of carrier envelope phase (CEP) stabilized infrared (IR) few-cycle laser pulses, the models of THz generation from plasma filament by intense few-cycle laser field, the propagation of few-cycle laser pulses in air plasma, the waveform controlled THz emission and its application in the measurement of actual value of CEP.