This one uses the maximum amount of new, buzzwordy features available in node 8, including Promises, util/promisify, destructuring, async-await, map+reduce and more, making your co-workers scratch their heads as they try to figure out what is going on.

Node 8+

No external dependencies.

const { promisify } = require('util');
const { resolve } = require('path');
const fs = require('fs');
const readdir = promisify(fs.readdir);
const stat = promisify(fs.stat);

async function getFiles(dir) {
  const subdirs = await readdir(dir);
  const files = await Promise.all(subdirs.map(async (subdir) => {
    const res = resolve(dir, subdir);
    return (await stat(res)).isDirectory() ? getFiles(res) : res;
  }));
  return files.reduce((a, f) => a.concat(f), []);
}

Usage

getFiles(__dirname)
  .then(files => console.log(files))
  .catch(e => console.error(e));

Node 10.10+

Updated for node 10+ with even more whizbang:

const { resolve } = require('path');
const { readdir } = require('fs').promises;

async function getFiles(dir) {
  const dirents = await readdir(dir, { withFileTypes: true });
  const files = await Promise.all(dirents.map((dirent) => {
    const res = resolve(dir, dirent.name);
    return dirent.isDirectory() ? getFiles(res) : res;
  }));
  return Array.prototype.concat(...files);
}

Note that starting with node 11.15.0 you can use files.flat() instead of Array.prototype.concat(...files) to flatten the files array.

Node 11+

If you want to blow everybody's head up completely, you can use the following version using async iterators. In addition to being really cool, it also allows consumers to pull results one-at-a-time, making it better suited for really large directories.

const { resolve } = require('path');
const { readdir } = require('fs').promises;

async function* getFiles(dir) {
  const dirents = await readdir(dir, { withFileTypes: true });
  for (const dirent of dirents) {
    const res = resolve(dir, dirent.name);
    if (dirent.isDirectory()) {
      yield* getFiles(res);
    } else {
      yield res;
    }
  }
}

Usage has changed because the return type is now an async iterator instead of a promise

;(async () => {
  for await (const f of getFiles('.')) {
    console.log(f);
  }
})()

In case somebody is interested, I've written more about async iterators here: https://qwtel.com/posts/software/async-generators-in-the-wild/

Node 20+

As of Node 20, fs.readdir has a { recursive: true } option

const files = await fs.promises.readdir(dir, { recursive: true });

Just in case anyone finds it useful, I also put together a synchronous version.

var walk = function(dir) {
    var results = [];
    var list = fs.readdirSync(dir);
    list.forEach(function(file) {
        file = dir + '/' + file;
        var stat = fs.statSync(file);
        if (stat && stat.isDirectory()) { 
            /* Recurse into a subdirectory */
            results = results.concat(walk(file));
        } else { 
            /* Is a file */
            results.push(file);
        }
    });
    return results;
}

Tip: To use less resources when filtering. Filter within this function itself. E.g. Replace results.push(file); with below code. Adjust as required:

    file_type = file.split(".").pop();
    file_name = file.split(/(\\|\/)/g).pop();
    if (file_type == "json") results.push(file);

A. Have a look at the file module. It has a function called walk:

file.walk(start, callback)

Navigates a file tree, calling callback for each directory, passing in (null, dirPath, dirs, files).

This may be for you! And yes, it is async. However, I think you would have to aggregate the full path's yourself, if you needed them.

B. An alternative, and even one of my favourites: use the unix find for that. Why do something again, that has already been programmed? Maybe not exactly what you need, but still worth checking out:

var execFile = require('child_process').execFile;
execFile('find', [ 'somepath/' ], function(err, stdout, stderr) {
  var file_list = stdout.split('\n');
  /* now you've got a list with full path file names */
});

Find has a nice build-in caching mechanism that makes subsequent searches very fast, as long as only few folder have changed.

I recommend using node-glob to accomplish that task.

var glob = require( 'glob' );  

glob( 'dirname/**/*.js', function( err, files ) {
  console.log( files );
});

Another nice npm package is glob.

npm install glob

It is very powerful and should cover all your recursing needs.

Edit:

I actually wasn't perfectly happy with glob, so I created readdirp.

I'm very confident that its API makes finding files and directories recursively and applying specific filters very easy.

Read through its documentation to get a better idea of what it does and install via:

npm install readdirp

Short, Modern and Efficient:

import {readdir} from 'node:fs/promises'
import {join} from 'node:path'

const walk = async (dirPath) => Promise.all(
  await readdir(dirPath, { withFileTypes: true }).then((entries) => entries.map((entry) => {
    const childPath = join(dirPath, entry.name)
    return entry.isDirectory() ? walk(childPath) : childPath
  })),
)

^{Special thank to Function for hinting: {withFileTypes: true}.}

This automatically keeps tree-structure of the source directory (which you may need). For example if:

const allFiles = await walk('src')

then allFiles would be a TREE like this:

[
  [
    'src/client/api.js',
    'src/client/http-constants.js',
    'src/client/index.html',
    'src/client/index.js',
    [ 'src/client/res/favicon.ico' ],
    'src/client/storage.js'
  ],
  [ 'src/crypto/keygen.js' ],
  'src/discover.js',
  [
    'src/mutations/createNewMutation.js',
    'src/mutations/newAccount.js',
    'src/mutations/transferCredit.js',
    'src/mutations/updateApp.js'
  ],
  [
    'src/server/authentication.js',
    'src/server/handlers.js',
    'src/server/quick-response.js',
    'src/server/server.js',
    'src/server/static-resources.js'
  ],
  [ 'src/util/prompt.js', 'src/util/safeWriteFile.js' ],
  'src/util.js'
]

Flat it, if you don't want tree-structure:

allFiles.flat(Number.POSITIVE_INFINITY)

[
  'src/client/api.js',
  'src/client/http-constants.js',
  'src/client/index.html',
  'src/client/index.js',
  'src/client/res/favicon.ico',
  'src/client/storage.js',
  'src/crypto/keygen.js',
  'src/discover.js',
  'src/mutations/createNewMutation.js',
  'src/mutations/newAccount.js',
  'src/mutations/transferCredit.js',
  'src/mutations/updateApp.js',
  'src/server/authentication.js',
  'src/server/handlers.js',
  'src/server/quick-response.js',
  'src/server/server.js',
  'src/server/static-resources.js',
  'src/util/prompt.js',
  'src/util/safeWriteFile.js',
  'src/util.js'
]

If you want to use an npm package, wrench is pretty good.

var wrench = require("wrench");

var files = wrench.readdirSyncRecursive("directory");

wrench.readdirRecursive("directory", function (error, files) {
    // live your dreams
});

EDIT (2018):
Anyone reading through in recent time: The author deprecated this package in 2015:

wrench.js is deprecated, and hasn't been updated in quite some time. I heavily recommend using fs-extra to do any extra filesystem operations.

Async

const fs = require('fs')
const path = require('path')

const readdir = (p, done, a = [], i = 0) => fs.readdir(p, (e, d = []) =>
  d.map(f => readdir(a[a.push(path.join(p, f)) - 1], () =>
    ++i == d.length && done(a), a)).length || done(a))

readdir(__dirname, console.log)

Sync

const fs = require('fs')
const path = require('path')

const readdirSync = (p, a = []) => {
  if (fs.statSync(p).isDirectory())
    fs.readdirSync(p).map(f => readdirSync(a[a.push(path.join(p, f)) - 1], a))
  return a
}

console.log(readdirSync(__dirname))

Async readable

function readdir (currentPath, done, allFiles = [], i = 0) {
  fs.readdir(currentPath, function (e, directoryFiles = []) {
    if (!directoryFiles.length)
      return done(allFiles)
    directoryFiles.map(function (file) {
      var joinedPath = path.join(currentPath, file)
      allFiles.push(joinedPath)
      readdir(joinedPath, function () {
        i = i + 1
        if (i == directoryFiles.length)
          done(allFiles)}
      , allFiles)
    })
  })
}

readdir(__dirname, console.log)

Note: both versions will follow symlinks (same as the original fs.readdir)

With Recursion

var fs = require('fs')
var path = process.cwd()
var files = []

var getFiles = function(path, files){
    fs.readdirSync(path).forEach(function(file){
        var subpath = path + '/' + file;
        if(fs.lstatSync(subpath).isDirectory()){
            getFiles(subpath, files);
        } else {
            files.push(path + '/' + file);
        }
    });     
}

Calling

getFiles(path, files)
console.log(files) // will log all files in directory

I loved the answer from chjj above and would not have been able to create my version of the parallel loop without that start.

var fs = require("fs");

var tree = function(dir, done) {
  var results = {
        "path": dir
        ,"children": []
      };
  fs.readdir(dir, function(err, list) {
    if (err) { return done(err); }
    var pending = list.length;
    if (!pending) { return done(null, results); }
    list.forEach(function(file) {
      fs.stat(dir + '/' + file, function(err, stat) {
        if (stat && stat.isDirectory()) {
          tree(dir + '/' + file, function(err, res) {
            results.children.push(res);
            if (!--pending){ done(null, results); }
          });
        } else {
          results.children.push({"path": dir + "/" + file});
          if (!--pending) { done(null, results); }
        }
      });
    });
  });
};

module.exports = tree;

I created a Gist as well. Comments welcome. I am still starting out in the NodeJS realm so that is one way I hope to learn more.

Vanilla ES6 + async/await + small & readable

I didn't find the answer I was looking for in this thread; there were a few similar elements spread across different answers, but I just wanted something simple and readable.

Just in case it helps anyone in the future (i.e. myself in a couple of months), this I what I ended up using:

const { readdir } = require('fs/promises');
const { join } = require('path');

const readdirRecursive = async dir => {
  const files = await readdir( dir, { withFileTypes: true } );

  const paths = files.map( async file => {
    const path = join( dir, file.name );

    if ( file.isDirectory() ) return await readdirRecursive( path );

    return path;
  } );

  return ( await Promise.all( paths ) ).flat( Infinity );
}

module.exports = {
  readdirRecursive,
}

Use node-dir to produce exactly the output you like

var dir = require('node-dir');

dir.files(__dirname, function(err, files) {
  if (err) throw err;
  console.log(files);
  //we have an array of files now, so now we can iterate that array
  files.forEach(function(path) {
    action(null, path);
  })
});

Here is a simple synchronous recursive solution

const fs = require('fs')

const getFiles = path => {
    const files = []
    for (const file of fs.readdirSync(path)) {
        const fullPath = path + '/' + file
        if(fs.lstatSync(fullPath).isDirectory())
            getFiles(fullPath).forEach(x => files.push(file + '/' + x))
        else files.push(file)
    }
    return files
}

Usage:

const files = getFiles(process.cwd())

console.log(files)

You could write it asynchronously, but there is no need. Just make sure that the input directory exists and is accessible.

Modern promise based read dir recursive version:

const fs = require('fs');
const path = require('path');

const readDirRecursive = async (filePath) => {
    const dir = await fs.promises.readdir(filePath);
    const files = await Promise.all(dir.map(async relativePath => {
        const absolutePath = path.join(filePath, relativePath);
        const stat = await fs.promises.lstat(absolutePath);

        return stat.isDirectory() ? readDirRecursive(absolutePath) : absolutePath;
    }));

    return files.flat();
}

qwtel's answer variant, in TypeScript

import { resolve } from 'path';
import { readdir } from 'fs/promises';

async function* getFiles(dir: string): AsyncGenerator<string> {
    const entries = await readdir(dir, { withFileTypes: true });
    for (const entry of entries) {
        const res = resolve(dir, entry.name);
        if (entry.isDirectory()) {
            yield* getFiles(res);
        } else {
            yield res;
        }
    }
}

Shortest native solution which is available with v20.1 release:

import fs from 'node:fs'

const results = fs.promises.readdir('/tmp', { recursive: true })

recursive option is also supported by fs.readdir and fs.readdirSync functions.

Simple, Async Promise Based

const fs = require('fs/promises');
const getDirRecursive = async (dir) => {
    try {
        const items = await fs.readdir(dir);
        let files = [];
        for (const item of items) {
            if ((await fs.lstat(`${dir}/${item}`)).isDirectory()) files = [...files, ...(await getDirRecursive(`${dir}/${item}`))];
            else files.push({file: item, path: `${dir}/${item}`, parents: dir.split("/")});
        }
        return files;
    } catch (e) {
        return e
    }
};

Usage: await getDirRecursive("./public");

Using async/await, this should work:

const FS = require('fs');
const readDir = promisify(FS.readdir);
const fileStat = promisify(FS.stat);

async function getFiles(dir) {
    let files = await readDir(dir);

    let result = files.map(file => {
        let path = Path.join(dir,file);
        return fileStat(path).then(stat => stat.isDirectory() ? getFiles(path) : path);
    });

    return flatten(await Promise.all(result));
}

function flatten(arr) {
    return Array.prototype.concat(...arr);
}

You can use bluebird.Promisify or this:

/**
 * Returns a function that will wrap the given `nodeFunction`. Instead of taking a callback, the returned function will return a promise whose fate is decided by the callback behavior of the given node function. The node function should conform to node.js convention of accepting a callback as last argument and calling that callback with error as the first argument and success value on the second argument.
 *
 * @param {Function} nodeFunction
 * @returns {Function}
 */
module.exports = function promisify(nodeFunction) {
    return function(...args) {
        return new Promise((resolve, reject) => {
            nodeFunction.call(this, ...args, (err, data) => {
                if(err) {
                    reject(err);
                } else {
                    resolve(data);
                }
            })
        });
    };
};

Node 8+ has Promisify built-in

See my other answer for a generator approach that can give results even faster.

I've coded this recently, and thought it would make sense to share this here. The code makes use of the async library.

var fs = require('fs');
var async = require('async');

var scan = function(dir, suffix, callback) {
  fs.readdir(dir, function(err, files) {
    var returnFiles = [];
    async.each(files, function(file, next) {
      var filePath = dir + '/' + file;
      fs.stat(filePath, function(err, stat) {
        if (err) {
          return next(err);
        }
        if (stat.isDirectory()) {
          scan(filePath, suffix, function(err, results) {
            if (err) {
              return next(err);
            }
            returnFiles = returnFiles.concat(results);
            next();
          })
        }
        else if (stat.isFile()) {
          if (file.indexOf(suffix, file.length - suffix.length) !== -1) {
            returnFiles.push(filePath);
          }
          next();
        }
      });
    }, function(err) {
      callback(err, returnFiles);
    });
  });
};

You can use it like this:

scan('/some/dir', '.ext', function(err, files) {
  // Do something with files that ends in '.ext'.
  console.log(files);
});

A library called Filehound is another option. It will recursively search a given directory (working directory by default). It supports various filters, callbacks, promises and sync searches.

For example, search the current working directory for all files (using callbacks):

const Filehound = require('filehound');

Filehound.create()
.find((err, files) => {
    if (err) {
        return console.error(`error: ${err}`);
    }
    console.log(files); // array of files
});

Or promises and specifying a specific directory:

const Filehound = require('filehound');

Filehound.create()
.paths("/tmp")
.find()
.each(console.log);

Consult the docs for further use cases and examples of usage: https://github.com/nspragg/filehound

Disclaimer: I'm the author.

Check out the final-fs library. It provides a readdirRecursive function:

ffs.readdirRecursive(dirPath, true, 'my/initial/path')
    .then(function (files) {
        // in the `files` variable you've got all the files
    })
    .otherwise(function (err) {
        // something went wrong
    });

Standalone promise implementation

I am using the when.js promise library in this example.

var fs = require('fs')
, path = require('path')
, when = require('when')
, nodefn = require('when/node/function');

function walk (directory, includeDir) {
    var results = [];
    return when.map(nodefn.call(fs.readdir, directory), function(file) {
        file = path.join(directory, file);
        return nodefn.call(fs.stat, file).then(function(stat) {
            if (stat.isFile()) { return results.push(file); }
            if (includeDir) { results.push(file + path.sep); }
            return walk(file, includeDir).then(function(filesInDir) {
                results = results.concat(filesInDir);
            });
        });
    }).then(function() {
        return results;
    });
};

walk(__dirname).then(function(files) {
    console.log(files);
}).otherwise(function(error) {
    console.error(error.stack || error);
});

I've included an optional parameter includeDir which will include directories in the file listing if set to true.

The recursive-readdir module has this functionality.

klaw and klaw-sync are worth considering for this sort of thing. These were part of node-fs-extra.

For Node 10.3+, here is a for-await solution:

#!/usr/bin/env node

const FS = require('fs');
const Util = require('util');
const readDir = Util.promisify(FS.readdir);
const Path = require('path');

async function* readDirR(path) {
    const entries = await readDir(path,{withFileTypes:true});
    for(let entry of entries) {
        const fullPath = Path.join(path,entry.name);
        if(entry.isDirectory()) {
            yield* readDirR(fullPath);
        } else {
            yield fullPath;
        }
    }
}

async function main() {
    const start = process.hrtime.bigint();
    for await(const file of readDirR('/mnt/home/media/Unsorted')) {
        console.log(file);
    }
    console.log((process.hrtime.bigint()-start)/1000000n);
}

main().catch(err => {
    console.error(err);
});

The benefit of this solution is that you can start processing the results immediately; e.g. it takes 12 seconds to read all the files in my media directory, but if I do it this way I can get the first result within a few milliseconds.

Here's yet another implementation. None of the above solutions have any limiters, and so if your directory structure is large, they're all going to thrash and eventually run out of resources.

var async = require('async');
var fs = require('fs');
var resolve = require('path').resolve;

var scan = function(path, concurrency, callback) {
    var list = [];

    var walker = async.queue(function(path, callback) {
        fs.stat(path, function(err, stats) {
            if (err) {
                return callback(err);
            } else {
                if (stats.isDirectory()) {
                    fs.readdir(path, function(err, files) {
                        if (err) {
                            callback(err);
                        } else {
                            for (var i = 0; i < files.length; i++) {
                                walker.push(resolve(path, files[i]));
                            }
                            callback();
                        }
                    });
                } else {
                    list.push(path);
                    callback();
                }
            }
        });
    }, concurrency);

    walker.push(path);

    walker.drain = function() {
        callback(list);
    }
};

Using a concurrency of 50 works pretty well, and is almost as fast as simpler implementations for small directory structures.

I modified Trevor Senior's Promise based answer to work with Bluebird

var fs = require('fs'),
    path = require('path'),
    Promise = require('bluebird');

var readdirAsync = Promise.promisify(fs.readdir);
var statAsync = Promise.promisify(fs.stat);
function walkFiles (directory) {
    var results = [];
    return readdirAsync(directory).map(function(file) {
        file = path.join(directory, file);
        return statAsync(file).then(function(stat) {
            if (stat.isFile()) {
                return results.push(file);
            }
            return walkFiles(file).then(function(filesInDir) {
                results = results.concat(filesInDir);
            });
        });
    }).then(function() {
        return results;
    });
}

//use
walkDir(__dirname).then(function(files) {
    console.log(files);
}).catch(function(e) {
    console.error(e); {
});

For fun, here is a flow based version that works with highland.js streams library. It was co-authored by Victor Vu.

###
  directory >---m------> dirFilesStream >---------o----> out
                |                                 |
                |                                 |
                +--------< returnPipe <-----------+

  legend: (m)erge  (o)bserve

 + directory         has the initial file
 + dirListStream     does a directory listing
 + out               prints out the full path of the file
 + returnPipe        runs stat and filters on directories

###

_ = require('highland')
fs = require('fs')
fsPath = require('path')

directory = _(['someDirectory'])
mergePoint = _()
dirFilesStream = mergePoint.merge().flatMap((parentPath) ->
  _.wrapCallback(fs.readdir)(parentPath).sequence().map (path) ->
    fsPath.join parentPath, path
)
out = dirFilesStream
# Create the return pipe
returnPipe = dirFilesStream.observe().flatFilter((path) ->
  _.wrapCallback(fs.stat)(path).map (v) ->
    v.isDirectory()
)
# Connect up the merge point now that we have all of our streams.
mergePoint.write directory
mergePoint.write returnPipe
mergePoint.end()
# Release backpressure.  This will print files as they are discovered
out.each H.log
# Another way would be to queue them all up and then print them all out at once.
# out.toArray((files)-> console.log(files))

Using Promises (Q) to solve this in a Functional style:

var fs = require('fs'),
    fsPath = require('path'),
    Q = require('q');

var walk = function (dir) {
  return Q.ninvoke(fs, 'readdir', dir).then(function (files) {

    return Q.all(files.map(function (file) {

      file = fsPath.join(dir, file);
      return Q.ninvoke(fs, 'lstat', file).then(function (stat) {

        if (stat.isDirectory()) {
          return walk(file);
        } else {
          return [file];
        }
      });
    }));
  }).then(function (files) {
    return files.reduce(function (pre, cur) {
      return pre.concat(cur);
    });
  });
};

It returns a promise of an array, so you can use it as:

walk('/home/mypath').then(function (files) { console.log(files); });