The invention discloses a bionic sensing and executing integrated flexible actuator and a preparation method thereof. The flexible actuator comprises an ionic polymer metal composite (IPMC) actuatinglayer, an adhesive layer arranged on the IPMC actuating layer, and a bionic strain sensing element arranged on the adhesive layer; the bionic strain sensing element comprises a flexible substrate layer arranged on the IPMC actuating layer, a conductive layer arranged on the flexible substrate layer and a first electrode arranged on the conductive layer, wherein the flexible substrate layer is provided with bionic V-shaped groove arrays. When external vibration waves are transmitted to the bionic strain sensing element, and output resistance of the bionic strain sensing element reaches a presetvalue, the IPMC actuating layer is automatically started, actuating bending occurs, and the bionic strain sensing element layer is further driven to deform. The actuating degree of the actuator can be indirectly acquired according to an output resistance value, so that the purposes that sensing and executing are integrated and actuation is intelligent and controllable are achieved.