Interoception, the sensing of internal bodily signals, is intricately linked with the experience of emotions. Various theoretical models of emotion incorporate aspects of interoception as a fundamental component alongside higher-order processes such as the appraisal of internal signals guided by external context. Interoception can be delineated into different dimensions, which include the nature of afferent signals, the accuracy with which they can be sensed, their neural processing, and the higher-order interpretation of these signals. This review methodically evaluates these interoceptive dimensions through empirical research to illustrate their role in shaping emotions. Clinical and neurodevelopmental conditions characterized by altered emotional profiles, such as anxiety, depression, schizophrenia, posttraumatic stress disorder, emotionally unstable personality disorder, and autism, exhibit distinct changes in interoception. Various therapeutic approaches, including behavioral, pharmacological, and psychological strategies, may be efficacious for treating conditions associated with emotional alterations by targeting interoceptive mechanisms.