We focus on subgrid-scale modeling for large-eddy simulation of incompressible turbulent flows. In particular, we follow a systematic approach that is based on the idea that subgrid-scale models should preserve fundamental properties of the Navier–Stokes equations and turbulent stresses. To that end, we discuss the symmetries and conservation laws of the Navier–Stokes equations, as well as the near-wall scaling, realizability and dissipation behavior of the turbulent stresses. Regarding each of these properties as a model constraint, we obtain a framework that can be used to assess existing and create new subgrid-scale models. We show that several commonly used velocity-gradient-based subgrid-scale models do not exhibit all the desired properties. Although this can partly be explained by incompatibilities between model constraints, we believe there is room for improvement in the properties of subgrid-scale models. As an example, we provide a new eddy viscosity model, based on the vortex stretching magnitude, that is successfully tested in large-eddy simulations of turbulent plane-channel flow.