Mobile impurity atoms immersed in Bose–Einstein condensates provide a new platform for exploring Bose polarons. Recent experimental advances in the field of ultracold atoms make it possible to realize such systems with highly tunable microscopic parameters and to explore equilibrium and dynamical properties of polarons using a rich toolbox of atomic physics. In this paper we present a detailed theoretical analysis of Bose polarons in one-dimensional systems of ultracold atoms. By combining a non-perturbative renormalization group approach with numerically exact diffusion Monte Carlo calculations we obtain not only detailed numerical results over a broad range of parameters but also qualitative understanding of different regimes of the system. We find that an accurate description of Bose polarons requires the inclusion of two-phonon scattering terms which go beyond the commonly used Fröhlich model. Furthermore we show that when the Bose gas is in the strongly interacting regime, one needs to include interactions between the phonon modes. We use several theoretical approaches to calculate the polaron energy and its effective mass. The former can be measured using radio-frequency spectroscopy and the latter can be studied experimentally using impurity oscillations in a harmonic trapping potential. We compare our theoretical results for the effective mass to the experiments by Catani et al (2012 Phys. Rev. A 85 023623). In the weak-to-intermediate coupling regimes we obtain excellent quantitative agreement between theory and experiment, without any free fitting parameter. We supplement our analysis by full dynamical simulations of polaron oscillations in a shallow trapping potential. We also use our renormalization group approach to analyze the full phase diagram and identify regions that support repulsive and attractive polarons, as well as multi-particle bound states.