It　is　believed　that　the　extraordinary　propulsion　performance　of　aquatic　animals　originates　from　wave-like　body　movements.　To　be　specific,　they　rely　on　body　and/or　tail　fin　(BCF)　propulsion　to　allow　swimming　to　perform　more　effective　movement　at　higher　speeds　and　accelerations.　From　the　perspective　of　bionics,　a　growing　number　of　scientists　have　proposed　soft　prototype　robot.　This　study　introduces　the　design,　manufacture　and　characterization　of　a　magnetically　controlled　soft　tadpole-like　robot,　which　is　propelled　by　BCF.　The　robot　with　a　body　length　of　20　mm　exhibits　excellent　motion　performance,　with　the　speed　of　12.6　mm/s　under　12　Hz　time-varying　magnetic　field.　This　article　also　discusses　the　propulsion　mechanism　of　the　tadpole-like　robot,　which　provides　clues　for　the　design　of　the　bionic　underwater　robot　for　latecomers.　©　2021　IEEE.