Basal ganglia are a series of neurological nuclei in deep brain， which are mainly connected with the surrounding cerebral cortex， thalamus， cerebellum and brainstem. The main function of basal ganglia is to participate in motor regulation and random motion control， especially in decision-making and action selection of behavior. This paper mainly introduced the behavioral decision-making model based on the mechanism of basal ganglia， and focused on the progress of theoretical models of decision-making and action selection. Firstly， the anatomical structure of basal ganglia， composed of input nucleus， output nucleus， dopamine system and relay nucleus， were introduced， and then the functional connections of basal ganglia （direct pathway， indirect pathway and hyper-direct pathway） were described. Secondly， the theoretical progress of decision models in motion and action selection based on the interaction between multiple cortical-BG circuits in the basal ganglia was summarized， including Gurney’s select-control model， Humphries’ neuron population model， Frank’s cognitive decision model， Wang’s choice decision model and Rabinovich's phase space dynamics decision model. Finally， the relationship between these theoretical decision models and brain diseases （e.g. Parkinson's disease） was discussed.