Background/Objectives: The global population is aging rapidly, increasing the need for appropriate health care. Older people often prefer to remain in their homes for as long as possible as they age. Therefore, it is crucial to assess their overall health and understand the individualized care needs for developing tailored home care services. This systematic review aims to examine the major domains of a range of assessment tools used for older people receiving home care services. Methods: A systematic search of Medline and PsycINFO via Ovid, CINAHL via EBSCO, Web of Science, and Scopus was conducted to identify studies investigating assessment of older people requiring home care services. The literature findings were systematically synthesized and classified using the International Classification of Functioning, Disability and Health (ICF) by the World Health Organization (WHO). Results: A total of 32 studies were included in the systematic review. Three primary categories were identified based on the WHO ICF classification system: (1) body functions, (2) activities and participation, and (3) environmental factors. Body functions included physical functions and mental functions. Mobility, self-care, and domestic life were three major aspects within the ICF category of activities and participation. Regarding the environmental factors, support, relationships, and services provided to older people were commonly considered in the included studies. Among them, the most assessed domains were physical, psychological, cognitive, functional, and nutritional assessment. Conclusions: The synthesis of findings in this review reveals major domains in various assessment tools, contributing to the development of a comprehensive framework to guide the assessment for older people requiring home care services.