We live in a digital world which controls our physical environment. The increasing use of wireless network supports these digital devices to use mostly people. People prefer mobile devices such as smart phones and tablets to personal computers or laptops. This brings that accessing to information and services is available any time and everywhere. This can be called ubiquitous computing. There is a high demand of pervasive computing applications and they have grown in the last years. However, a large group of people do not engage with these developments. This attracted the researchers to think this problem and they link it with usability of systems. In this study we reviewed 37 the articles which published on usability of ubiquitous computing. Within the scope of this study, the first stage is defining ubiquitous and usability. In the second stage, this paper organizes and classifies the literature on the area in order to facilitate future research. The review covers 37 peer reviewed journal articles from 18 journals published between 2000 and 2014. The resulting framework summarizes the progress in usability studies on pervasive computing environments research and provides future research directions.