Method for making a tough and compliant hydrogel. A precursor hydrogel is made of a first polymer selected to maintain high elasticity and a second polymer selected to dissipate mechanical energy. The precursor hydrogel is stretched to a multiple of its original length to form a pre-stretched hydrogel. The pre-stretched hydrogel is allowed to relax and is soaked in a biocompatible solvent to reach equilibrium swelling of the pre-stretched hydrogel whereby shear modulus of the hydrogel is reduced.