Recent measurements on the semileptonic decays of $D_{(s)}$ meson and $\Lambda_c$ baryon at the BESIII experiment are reviewed. The measurements of absolute branching fractions of $D\to Ke^+\nu_e$, $D\to\pi e^+\nu_e$, $D_s^+\to\eta^{(\prime)}e^+\nu_e$ and $\Lambda_c^+\to\Lambda\ell^+\nu_\ell$ decays are presented. The experimental results of the $D\to K\ell\nu$ and $D\to\pi\ell\nu$ form factors as well as the Cabibbo-Kobayashi-Maskawa matrix elements $|V_{cs}|$ and $|V_{cd}|$ are also discussed.