In this paper, we will study concentration inequalities for Banach space-valued martingales. Firstly, we prove that a Banach space $X$ is linearly isomorphic to a $p$-uniformly smooth space ($1<p\leq 2$) if and only if an Azuma-type inequality holds for $X$-valued martingales. This can be viewed as a generalization of Pinelis' work on Azuma inequality for martingales with values in $2$-uniformly smooth space. Secondly, Azuma-type inequality for self-normalized sums will be presented. Finally, some further inequalities for Banach space-valued martingales, such as moment inequalities for double indexed dyadic martingales and the De la Peña-type inequalities for conditionally symmetric martingales, will also be discussed.