The first two stations, Tiangong-1 and 2, were single module units launched, un-crewed, complete into low earth orbit. They were of similar design and remained in orbit for around six and three years respectively. A third station of similar design, but larger, was proposed but never built.

The third station to be flown, Tiangong Space Station, is a multi-modular design with currently three main modules. Each module was launched, un-crewed, separately into low Earth orbit. They were then permanently berthed together.

They were initially docked by remote control and then relocated to their final position by the crew, using a robot arm.