Bodily organs such as the heart and the lungs play a crucial role in maintaining physiological homeostasis in a continuous closed-loop interaction with the brain. Beyond their vital role, recent developments have emphasized the remarkable contribution of bodily signals to high-level brain functions. A direct route by which bodily signals influence brain functioning is via modulation of electrophysiological dynamics, which in turn influences the integration and processing of emotional and self-related information regulating our conscious experience. Drawing on electrophysiological investigations, we provide a comprehensive picture of the electrophysiology of interoception and its contribution to emotion, self and bodily consciousness, with a focus on cardiac, respiratory and gastric interoception. We provide evidence that altered neurophysiological responses in interoception might underlie deficits in psychopathology. We also summarize the limited evidence on the development of the electrophysiology of interoception during infancy and adolescence, as well as describing some attempts to investigate causality in the neural mechanisms underpinning interoception. A number of important areas for further research are highlighted.