The advent of the Internet led to the easy availability of digital data like images, audio, and video. Easy access to multimedia gives rise to the issues such as content authentication, security, copyright protection, and ownership identification. Here, we discuss the concept of digital image watermarking with a focus on the technique used in image watermark embedding and extraction of the watermark. The detailed classification along with the basic characteristics, namely visual imperceptibility, robustness, capacity, security of digital watermarking is also presented in this work. Further, we have also discussed the recent application areas of digital watermarking such as healthcare, remote education, electronic voting systems, and the military. The robustness is evaluated by examining the effect of image processing attacks on the signed content and the watermark recoverability. The authors believe that the comprehensive survey presented in this paper will help the new researchers to gather knowledge in this domain. Further, the comparative analysis can enkindle ideas to improve upon the already mentioned techniques.