Most modern beds consist of a soft, cushioned mattress on a bed frame, the mattress resting either on a solid base, often wood slats, or a sprung base. Many beds include a box spring inner-sprung base, which is a large mattress-sized box containing wood and springs that provide additional support and suspension for the mattress. Beds are available in many sizes, ranging from infant-sized bassinets and cribs, to small beds for a single child or adult, to large queen and king-size beds designed for two adults. While most beds are single mattresses on a fixed frame, there are other varieties, such as the murphy bed, which folds into a wall, the sofa bed, which folds out of a sofa, and the bunk bed, which provides two mattresses on two tiers. Temporary beds include the inflatable air mattress and the folding camp cot. Some beds contain neither a padded mattress nor a bed frame, such as the hammock, which is considered one of the most comfortable places to rest while swaying side to side. Some beds are made especially for animals.

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Beds may have a headboard for resting against, and may have side rails and footboards (or "footers"). "Headboard only" beds may incorporate a "dust ruffle", "bed skirt", or "valance sheet" to hide the bed frame. To support the head, a pillow made of a soft, padded material is usually placed on the top of the mattress. Some form of covering blanket is often used to insulate the sleeper, often bed sheets, a quilt, or a duvet, collectively referred to as bedding. Bedding is the removable non-furniture portion of a bed, which enables these components to be washed or aired out.

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Early beds were little more than piles of straw or some other natural material (e.g. a heap of palm leaves, animal skins, or dried bracken). An important change was raising them off the ground, to avoid drafts, dirt, and pests. Bedding dated around to 3600 BC was discovered in Sibudu Cave, South Africa. The bedding consists of sedge and other monocotyledons topped with the leaves of Cryptocarya woodii Engl. Beds found in a preserved northern Scottish village, which were raised boxes made of stone and likely topped with comfortable fillers, were dated to between 3200 BC and 2200 BC. The Egyptians had high bedsteads which were ascended by steps, with bolsters or pillows, and curtains to hang around. The elite of Egyptian society such as its pharaohs and queens even had beds made of wood, sometimes gilded. Often there was a head-rest as well, semi-cylindrical and made of stone, wood, or metal. Ancient Assyrians, Medes, and Persians had beds of a similar kind, and frequently decorated their furniture with inlays or appliques of metal, mother-of-pearl, and ivory.

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The image to the right showcases a headrest. Headrests like this were used in life to support the head while sleeping. They are also found supporting a mummy’s head in the coffin. This headrest perhaps was made specifically for the tomb, since the offering prayer has been inscribed on the supporting column, although the prayer may have been added after the death of the owner.

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The oldest account of a bed is probably that of Odysseus: a charpoy woven of rope plays a role in the Odyssey. A similar bed can be seen at the St Fagans National History Museum in Wales. Odysseus also gives an account of how he crafted the nuptial bed for himself and Penelope, out of an ancient, huge olive tree trunk that used to grow on the spot before the bridal chamber was built. His detailed description finally persuades the doubting Penelope that the shipwrecked, aged man is indeed her long-lost husband. Homer also mentions the inlaying of the woodwork of beds with gold, silver, and ivory. The Greek bed had a wooden frame, with a board at the head and bands of hide laced across, upon which skins were placed. At a later period the bedstead was often veneered with expensive woods; sometimes it was of solid ivory veneered with tortoise-shell and with silver feet; often it was of bronze. The pillows and coverings also became more costly and beautiful; the most celebrated places for their manufacture were Miletus, Corinth and Carthage. Folding beds, too, appear in the famous Ancient Greek vase paintings.