Nitrogen (N)-doped graphene (N-substituted or nitrogenated graphene) (NG) has become a new class of graphene material due to its modified properties such as the tunable work function, n-type semiconductivity, increasing biocompatibility, and, in particular, the synergistic function with various functional materials. However, the preparation of NG by a simple and effective method is still lacking. The modification of NG mainly depends on the N species and the N content. Thus, we focus on the recent progress in preparing methods of 2D NG and the respective key modulating parameters to modulate the N species and the N content. Furthermore, many effective charactering techniques are covered to accurately analyze the properties of N species, and the distribution and topography of N atoms. Also, we review the effect of N species on graphene, especially, the optical and electronic properties. Since constructing 3D structure is considered a promising strategy to prevent the restacking of 2D NG, the summary for preparing 3D NG is made on the basis of methodology of 2D NG. In a word, this review provides a reference for preparing 2D or 3D NG, modulating and characterizing N species, which are greatly contributed to the NG application.