It has been 20 years since the concept of cognitive radio (CR) was proposed, which is an efficient approach to provide more access opportunities to connect massive wireless devices. To improve the spectrum efficiency, CR enables unlicensed usage of licensed spectrum resources. It has been regarded as the key enabler for intelligent communications. In this article, we will provide an overview on the intelligent communication in the past two decades to illustrate the revolution of its capability from cognition to artificial intelligence (AI). Particularly, this article starts from a comprehensive review of typical spectrum sensing and sharing, followed by the recent achievements on the AI-enabled intelligent radio. Moreover, research challenges in the future intelligent communications will be discussed to show a path to the real deployment of intelligent radio. After witnessing the glorious developments of CR in the past 20 years, we try to provide readers a clear picture on how intelligent radio could be further developed to smartly utilize the limited spectrum resources as well as to optimally configure wireless devices in the future communication systems.