Since the introduction and spread of lifelong education, the Korean educational system has evolved beyond schools to a learning society. Civil society has also expanded through democratization of Korean society. However, we have neglected to combine the learning society and the civil society, with citizenship education in the learning society lagging far behind liberal arts education and vocational education. Moreover, the development of civic education activities in the context of a learning society was insufficient. This study tried to analyze Korean citizenship education from a perspective of lifelong education and derive its limitations and tasks. This study took the literature analysis method. The characteristics of civic education in Korea developed over the 70 years since liberation were reviewed based on the educational human being, educational contents, educational forms and methods, and educational agents and systems. And then this study examined the limitations and tasks of Korean citizenship education from a perspective of lifelong education characterized by expansion, innovation, and integration. The results show that Korean citizenship education has greatly expanded in terms of educational agents, space, time, contents, and format, but there have been some limits to implementing its innovation and integration. This study suggests some tasks of citizenship education as following: Learning and living a concrete and total life as a citizen, freely choosing what learners will learn, acquiring civic responsibility and ecological citizenship, continuing to learn citizenship integrating with other learning and social engagement activities, and institutionalizing citizenship education nationally.