Light carries energy and momentum, laying the physical foundation of optical manipulation that has facilitated advances in myriad scientific disciplines, ranging from biochemistry and robotics to quantum physics. Utilizing the momentum of light, optical tweezers have exemplified elegant light–matter interactions in which mechanical and optical momenta can be interchanged, whose effects are the most pronounced on micro and nano objects in fluid suspensions. In solid domains, the same momentum transfer becomes futile in the face of dramatically increased adhesion force. Effective implementation of optical manipulation should thereupon switch to the “energy” channel by involving auxiliary physical fields, which also coincides with the irresistible trend of enriching actuation mechanisms beyond sole reliance on light-momentum-based optical force. From this perspective, this review covers the developments of optical manipulation in schemes of both momentum and energy transfer, and we have correspondingly selected representative techniques to present. Theoretical analyses are provided at the beginning of this review followed by experimental embodiments, with special emphasis on the contrast between mechanisms and the practical realization of optical manipulation in fluid and solid domains.