In the context of perceiving individuals within and outside of social groups, there are distinct cognitive processes and mechanisms in the brain. Extensive research in recent years has delved into the neural mechanisms that underlie differences in how we perceive individuals from different social groups. To gain a deeper understanding of these neural mechanisms, we present a comprehensive review from the perspectives of facial recognition and memory, intergroup identification, empathy, and pro-social behavior. Specifically, we focus on studies that utilize functional magnetic resonance imaging (fMRI) and event-related potential (ERP) techniques to explore the relationship between brain regions and behavior. Findings from fMRI studies reveal that the brain regions associated with intergroup differentiation in perception and behavior do not operate independently but instead exhibit dynamic interactions. Similarly, ERP studies indicate that the amplitude of neural responses shows various combinations in relation to perception and behavior.