Disclosed is a smart soft composite actuator which enables user-desiring deformation by changing the position of smart material functioning as an active component, wherein the smart soft composite actuator comprises a smart material whose shape is changeable based on an external signal; and a matrix for supporting the smart material and determining an external shape, wherein the smart material is positioned inside the matrix or in a surface of the matrix, and at least one of in-plane shear deformation and out-of-plane deformation is realized by controlling the position of smart material.