Millimeter-wave (mmWave) MIMO with large antenna array has attracted considerable interests from academic and industry communities, as it can provide larger bandwidth and higher spectrum efficiency. However, with hundreds of antennas, the number of radio frequency (RF) chains required by mmWave MIMO is also huge, leading to unaffordable hardware cost and power consumption in practice. In this paper, we investigate low RF-complexity technologies to solve this bottleneck. We first review the evolution of low RF-complexity technologies from microwave frequencies to mmWave frequencies. Then, we discuss two promising low RF-complexity technologies for mmWave MIMO systems in detail, i.e., phased array based hybrid precoding (PAHP) and lens array based hybrid precoding (LAHP), including their principles, advantages, challenges, and recent results. We compare the performance of these two technologies to draw some insights about how they can be deployed in practice. Finally, we conclude this paper and point out some future research directions in this area.