This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference frame. The contributions of the paper are twofold. Firstly, we propose necessary and sufficient conditions for network localizability with both algebraic and rigidity theoretic interpretations. Secondly, we propose and analyze a linear distributed protocol for bearing-based network localization. One novelty of our work is that the localizability analysis and localization protocol are applicable to networks in arbitrary dimensional spaces. (C) 2016 Elsevier Ltd. All rights reserved.