Currently, the Internet of Things is spreading in all areas that apply computing resources. An important ally of the IoT is fog computing. It extends cloud computing and services to the edge of the network. Smart environments are becoming real and possible through IoT and fog computing. However, they are not free from security threats and vulnerabilities. This makes special security techniques indispensable. Security is one of the biggest challenges to ensuring an optimal IoT and Fog environment. Combined with the significant damage generated by application attacks, this fact creates the need to focus efforts in this area. This need can be proven through existing reviews of the state-of-the-art that pointed out several open aspects that need greater research effort. In this way, this article presents a Systematic Literature Review (SLR) considering the context of intrusion detection and prevention in environments based on fog computing and IoT. This review addresses more than 100 studies that were included after undergoing an extensive inclusion/exclusion process with well-defined criteria. From these studies, information was extracted to build a view of the current state-of-the-art and answer the research questions of this study. In this way, we identify the state-of-the-art, open questions and possibilities for future research.