Spherical torus magnetic confinement systems, covering spheromaks and spherical tokamaks (STs), are reviewed. As well as being potentially very important for fusion, spherical tori research is enhancing our understanding of magnetic confinement systems with wider applications than fusion research. The studies contribute to the conventional tokamak, for example, ITER via a range of scalings, as well as to our understanding of `quiescent' plasmas and those subject to `turbulent magnetohydrodynamic (MHD) relaxation'. The theoretical and experimental properties are described, showing how these vary with configuration and contrasting them with the conventional aspect ratio tokamak. Topics covered include equilibrium, refuelling, helicity injection, influence of trapped particle fraction, plasma heating, confinement, stability (including pressure limits and energetic particle instabilities) and disruption resilience.