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Several modifications to general relativity have been proposed to explain the nature of dark energy and the accelerated expansion of the Universe. In this talk will review the current status of modified theories of gravity, focusing on astrophysical probes in the non-linear regime. I will begin by outlining the expected behavior of theories beyond General Relativity in various astrophysical systems and their cosmological signatures. With this foundation, I will present a range of observational tests, emphasizing the use of current and next-generation observations for testing gravity. Specifically, I will demonstrate how physical observables in the non-linear regime of structure formation serve as promising probes for constraining theoretical models in the nonlinear dynamics of galaxies, clusters, and large-scale structure.