Deception techniques have been widely seen as a game changer in cyber defense. In this paper, we review representative techniques in honeypots, honeytokens, and moving target defense, spanning from the late 1980s to the year 2021. Techniques from these three domains complement with each other and may be leveraged to build a holistic deception based defense. However, to the best of our knowledge, there has not been a work that provides a systematic retrospect of these three domains all together and investigates their integrated usage for orchestrated deceptions. Our paper aims to fill this gap. By utilizing a tailored cyber kill chain model which can reflect the current threat landscape and a four-layer deception stack, a two-dimensional taxonomy is developed, based on which the deception techniques are classified. The taxonomy literally answers which phases of a cyber attack campaign the techniques can disrupt and which layers of the deception stack they belong to. Cyber defenders may use the taxonomy as a reference to design an organized and comprehensive deception plan, or to prioritize deception efforts for a budget conscious solution. We also discuss two important points for achieving active and resilient cyber defense, namely deception in depth and deception lifecycle, where several notable proposals are illustrated. Finally, some outlooks on future research directions are presented, including dynamic integration of different deception techniques, quantified deception effects and deception operation cost, hardware-supported deception techniques, as well as techniques developed based on better understanding of the human element.