The global production of oranges is significant, and the essential oils (EOs) derived from these fruits have been extensively studied for their antimicrobial, antioxidant, and non-toxic properties. This review focuses on the scientific literature of EOs extracted from the peels, leaves, and flowers of sweet orange (Citrus sinensis) and sour orange (Citrus aurantium), providing updates and highlighting their chemical composition, biological properties (antioxidant and antimicrobial), toxicity, and potential applications in innovative food technologies. The review was conducted using the Web of Science database, filtering mainly articles published in the last 10 years (2015–2024). The chemical composition of these EOs is well characterized, with D-limonene and limonene the main compounds found in the peels. Other frequently identified bioactive constituents include α-pinene, β-pinene, myrcene, sabinene, linalool, linalool acetate, nerol, and germacrene B, among others. However, the composition of EOs can vary depending on the part and variety of the plant, soil and climate conditions, extraction methods, as well as factors such as stage of ripeness and storage conditions. The observed antimicrobial efficacy and antioxidant activity of EOs are limited by their inherent sensitivity to environmental parameters, thus limiting their direct application. Strategies involving encapsulation are used to mitigate this within systems of particles, nanoparticles, nanoemulsions, edible coatings, oleogels, and polymeric films, which are being explored as promising avenues for technological innovation. Future research should focus on the application of EOs in different products and conducting in vivo evaluations to expand their potential use.