In　this　paper,　we　designed　a　magnetically　controlled　miniature　soft　robot　with　the　ability　to　jump,　which　consisted　of　a　magnetic　actuator,　main　body　and　an　elastic　leg.　In　order　to　improve　the　mechanical　properties　and　the　jumping　ability　of　the　soft　robot,　we　employed　polyethylene　terephthalate　(PET)　as　the　raw　material　of　the　main　body　and　an　elastic　leg.　The　maximum　size　of　the　jumping　robot　is　10 mm,　and　the　weight　is　0.09 g.　Driven　by　an　oscillating　magnetic　field,　the　jumping　robot　can　constantly　jump　forward　and　move　at　an　average　speed　of　1.1　body　length　per　second.　This　kind　of　miniature　jumping　robot　possesses　many　advantages　such　as　good　robustness,　small　structure　and　wireless　actuation,　so　that　it　has　great　application　potential　in　the　fields　of　environmental　investigation,　search　and　rescue,　etc.　©　2021,　Springer　Nature　Switzerland　AG.