In recent years, cybersecurity certification is gaining momentum as the baseline to build a structured approach to mitigate cybersecurity risks in the Internet of Things (IoT). This initiative is driven by industry, governmental institutions, and research communities, which have the goal to make IoT more secure for the end-users. In this survey, we analyze the current cybersecurity certification schemes, as well as the potential challenges to make them applicable for the IoT ecosystem. We also examine current efforts related to risk assessment and testing processes, which are widely recognized as the processes to build a cybersecurity certification framework. Our work provides a multidisciplinary perspective of a possible IoT cybersecurity certification framework by integrating research and technical tools and processes with policies and governance structures, which are analyzed against a set of identified challenges. This survey is intended to give a comprehensive overview of cybersecurity certification to facilitate the definition of a framework that fits in emerging scenarios, such as the IoT paradigm.