Due to the rapid development of new generation information technologies (such as IoT, Big Data analytics, Cyber-Physical Systems, cloud computing and artificial intelligence), Digital twins have become intensively used in smart manufacturing. Despite the fact that their use in industry has attracted the attention of many practitioners and researchers, there is still a need for an integrated and detailed Digital Twin framework for Reconfigurable Manufacturing Systems. To investigate related works, this manuscript reviews the existing Reconfigurable Manufacturing Systems Digital Twin frameworks. It also presents a classification of several studies based on the Digital Twin framework features and properties, the used decision-making tools and techniques as well as on the manufacturing system characteristics. The paper ends with a discussion and future challenges to put forward a structured and an integrated Reconfigurable Manufacturing Systems - Digital Twin framework.