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The evolution of silicon optical modulators is recalled, from the first effect demonstrations to the characterization of high-performance devices integrated in optical waveguides. Among possibilities to achieve optical modulation in silicon-based materials, the carrier depletion effect has demonstrated good capacities. Carrier depletion in Si and SiGe/Si structures has been theoretically and experimentally investigated. Large phase modulation efficiency, low optical loss, and large cutoff frequency are obtained by considering simultaneously optical and electrical structure performances. Integrated Mach-Zehnder interferometers and resonators are compared to convert phase modulation into intensity modulation. Finally, recent results on high-speed and low-loss silicon optical modulator using an asymmetric Mach-Zehnder interferometer are presented. It is based on a p-doped slit embedded in the intrinsic region of a lateral pin diode integrated in a silicon-on-insulator waveguide. This design allows a good overlap between the optical mode and carrier density variations. An insertion loss of 5 dB has been measured with a -3 dB bandwidth of 15 GHz.