Soft　actuators　that　exhibit　large　deformation　and　can　move　at　a　fast　speed　in　response　to　external　stimuli　have　been　in　high　demand　for　biomimetic　applications.　In　this　paper,　we　propose　a　convenient　approach　to　fabricate　a　reversible　and　thermal-responsive　composite　hydrogel.　Under　the　irradiation　of　visible　light,　the　striped　hydrogel　can　bend　at　a　speed　of　up　to　65.72°/s　with　carbon　nanotubes　loaded　at　a　concentration　of　3　mg/mL.　A　jellyfish-like　miniature　soft　robot　is　made　using　this　hydrogel.　When　driven　by　visible　light,　the　robot　can　move　at　a　maximum　speed　of　3.37　mm/s.　Besides　swimming,　other　motion　modes,　including　walking　and　jumping,　are　also　achieved　by　the　robot.　In　addition,　the　robot　can　perform　directional　transportation　of　tiny　objects.　As　a　new　actuation　approach　for　the　research　of　jellyfish-like　miniature　soft　robots,　this　work　is　of　great　significance　to　the　development　of　flexible　bionic　robots.　Moreover,　this　work　also　offers　some　important　insights　into　the　research　of　biomimetic　robots　driven　by　visible　light.　©　2021　American　Chemical　Society