Challenge-Based Learning (CBL) emphasizes student-centered approaches that foster critical thinking, problem-solving, teamwork, and engagement through real-world challenges, preparing students for professional engineering careers. However, the motivational processes underpinning these outcomes have not been systematically explored. This scoping review aimed to identify and synthesize the effects of CBL on student motivation in higher engineering education, guided by Arksey and O’Malley’s protocol. The protocol involved defining the research questions, selecting relevant studies, extracting and analyzing data, and collating and reporting findings. This scoping review examined literature from seven scientific engineering education databases published between 2015 and 2024, resulting in a final selection of 18 articles. The review identified several thematic areas—CBL’s effects on students’ intrinsic and extrinsic motivation, the enjoyment and engagement of real-world challenges application, the role of interdisciplinary collaboration and teamworking, the implications of real-world problem-solving for professional identity formation, and the teachers’ role. The review also revealed the predominance of quantitative methodologies, including instruments such as the SRQ-A and MUSIC® model, in evaluating CBL’s impact on motivation, while qualitative approaches, particularly those grounded in Self-Determination Theory, are notably underrepresented. This methodological disparity constrains a comprehensive understanding of students’ learning experiences and the contextual dynamics shaping motivation within CBL frameworks. These findings highlight the critical elements influencing student motivation in CBL contexts and provide insights into effective strategies for its implementation in higher engineering education.