We report a novel high-performance electroactive polymer actuator based on poly (vinylidene fluoride) (i.e., PVDF) and graphene. The PVDF-graphene composite membranes were fabricated through electrospinning method. The electrospun composite membrane has a three-dimensional network structure, high porosity, and large ionic liquid solution uptake which are a prerequisite for high performance dry-type electroactive soft actuators. The conductive poly (3,4-ethylenedioxythiophene)-poly (styrenesulfonate) (PEDOT:PSS) layers were deposited on the surfaces of the composite membrane through dipping-drying method. The electroactive PVDF-graphene actuators under both harmonic and step electrical inputs show larger bending deformation and faster response time than the pure PVDF actuator. X-ray diffusion (XRD) and ionic conductivity testing results for the PVDF-graphene membrane were compared with those of pristine PVDF. Most important, the PVDF-graphene actuator shows much larger bending deformation under low input voltage, and this could be due to the synergistic effects of the higher ionic conductivity of PVDF-graphene membrane and the electrochemical doping processes of the PEDOT:PSS electrode layers.