Volumetric video, which offers immersive viewing experiences, is gaining increasing prominence. With its six degrees of freedom, it provides viewers with greater immersion and interactivity compared to traditional videos. Despite their potential, volumetric video services poses significant challenges. This survey conducts a comprehensive review of the existing literature on volumetric video. We firstly provide a general framework of volumetric video services, followed by a discussion on prerequisites for volumetric video, encompassing representations, open datasets, and quality assessment metrics. Then we delve into the current methodologies for each stage of the volumetric video service pipeline, detailing capturing, compression, transmission, rendering, and display techniques. Lastly, we explore various applications enabled by this pioneering technology and we present an array of research challenges and opportunities in the domain of volumetric video services. This survey aspires to provide a holistic understanding of this burgeoning field and shed light on potential future research trajectories, aiming to bring the vision of volumetric video to fruition.