I've been using
ctrl + r to search through the terminal command history all these years. Today at work, I came across fzf, a command-line Fuzzy Finder, and it's fantastic. You still type
ctrl + r, but it provides a friendly UI to navigate the command history.
If you are on a Mac, install it using Homebrew. For other platforms, please check out the install instructions.
brew install fzf # To install useful key bindings and fuzzy completion: $(brew --prefix)/opt/fzf/install
Then close and reopen your terminal. Then type
ctrl + r to search your terminal command history.
Hope that helps.