Throughout the evolution of software systems, empirical methodologies have been used in their development process, even in the Internet of Things (IoT) paradigm, to develop IoT-based systems (IoTS). In this paper, we review the fundamentals included in the manifesto for agile software development, especially in the Scrum methodology, to determine its use and role in IoTS development. Initially, 4303 documents were retrieved, a number that was reduced to 186 after applying automatic filters and by the relevance of their titles. After analysing their contents, only 60 documents were considered. Of these, 38 documents present the development of an IoTS using some methodology, 8 present methodologies focused on the construction of IoTS software, and 14 present methodologies close to the systems life cycle (SLC). Finally, only one methodology can be considered SLC-compliant. Out of 38 papers presenting the development of some IoTS following a methodology for traditional information systems (ISs), 42.1% have used Scrum as the only methodology, while 10.5% have used Scrum combined with other methodologies, such as eXtreme Programming (XP), Kanban and Rapid Prototyping. In the analysis presented herein, the existing methodologies for developing IoTSs have been grouped according to the different approaches on which they are based, such as agile, modelling, and service oriented. This study also analyses whether the different proposals consider the standard stages of the development process or not: planning and requirements gathering, solution analysis, solution design, solution coding and unit testing (construction), integration and testing (implementation), and operation and maintenance. In addition, we include a review of the automated frameworks, platforms, and tools used in the methodologies analysed to improve the development of IoTSs and the design of their underlying architectures. To conclude, the main contribution of this work is a review for IoTS researchers and developers regarding existing methodologies, frameworks, platforms, tools, and guidelines for the development of IoTSs, with a deep analysis framed within international standards dictated for this purpose.