Since 2009, the BESIII detector operating at the BEPCII collider has collected data samples in the center-of-mass energy region from 2.0 to 4.95 GeV. All data samples correspond to integrated luminosity of 32 fb$^{-1}$ in total. To date, fruitful results related to $\tau$-charm physics have been achieved from analyses of these data samples. We herein briefly introduce some highlights on the experimental studies of charmed hadrons, light hadrons, charmonium(-like) states, strangenium-like states, and baryon form factors and decay parameters.