The Internet of Things (IoT) is a paradigm that connects objects to the Internet as a whole and enables them to work together to achieve common objectives, such as innovative home automation. Potential attackers see the scattered and open IoT service structure as an appealing target for cyber-attacks. So, security cannot be dealt with independently. Security must be designed and built-in to every layer of the IoT system. IoT security concerns not only network and data security but also human health and life attacks. Therefore, the development of the loT system to provide security through resistance to attacks is a de facto requirement to make the loT safe and operational. Protecting these things is very important for system security. Plus, it is important to integrate the Intrusion Detection System (IDS) with IoT systems. IDS intends to track and analyze network traffic from different resources and detect malicious activities. It is a significant part of cybersecurity technology. In short, IDS is a process used to detect malicious activities against victims by several methods. Besides, the method of Systematic Literature Review (SLR) is used to classify, review, and incorporate results from all similar research that answers one or more IDS research topics and perform a detailed empirical research analysis on IDS techniques. Furthermore, depending on the detection technique, we classify IDS approaches in IoT as signature-based, anomaly-based, specification-based, and hybrid. Also, for the IDS approaches, the authors give a parametric comparison. The benefits and drawbacks of the chosen mechanisms are then addressed. Eventually, there is an analysis of open problems as well as potential trend directions.