With the advent of Industry 4.0, many physical systems are transforming into cyber-physical systems. As these cyber-physical systems have a lot of vulnerabilities, there is a need to protect them from cyber-attacks. Hence a complete understanding of the type of cyber-attacks and predicting the behavior of intruders is very much important for protecting cyber-physical systems. Though many cyber-attacks are reported across multiple domains, the type of attacks is unique about each domain. Hence, an effort has been made in this work to consolidate different types of attacks reported across multiple domains. This is valuable not only for academicians but also for researchers and practitioners, as this paper contains not only the work reported so far but also provides future directions for promoting further research in the area of intruder detection.