A new generation of systems appeared with the birth of Cyber-Physical Systems (CPS) that integrated computational and physical capabilities. CPS represents an emerging domain as it has an important interest in the literature due to its interaction with Structural Health Monitoring System applications. In this paper, we present a deep investigation of SHM and wireless sensing technologies towards an efficient CPS. Structural Health Monitoring (SHM) based on wireless sensor networks (WSNs) has the potency to reduce the cost of installation and maintenance of public and private infrastructure. Many types of research are interested in SHM using WSN due to its application domain diversity and its importance in public safety. WSN networks can be a prominent candidate to solve many SHM problems thanks to its implementation simplicity and its significant cost reductions. We present a comprehensive survey about SHM based on new technologies and methods including the internet of things (IoT), Software-defined Networking (SDN), fog and cloud computing. SHM application domains are also highlighted with analytic research domains, projects, testbeds, and experimental works. Besides that, this investigation pinpoints SHM functionalities (damage detection, prognostic and risk assessment) and Artificial Intelligence (AI) contributions for SHM such as sensor placement and clustering and its benefits on energy optimization. The main challenges of WSN design, energy consumption, damage prediction, SHM mobility, SHM large scale were presented and discussed.