The shape-memory composite belt with a TiNi-SMA wire fiber and a polyurethane-SMP sheet matrix was fabricated. The bending actuation characteristics of the belt were investigated by the thermomechanical tests. The results obtained can be summarized as follows. (1) Residual deflection close to the maximum deflection is obtained by cooling under constant maximum deflection. The residual deflection disappears by heating under no load. Both the rate of shape fixity and the rate of shape recovery are close to 100%. (2) Recovery force appears by heating under constant residual deflection. The recovery force is 93-94% of the maximum force. The development of high functionality of shape-memory composite elements is expected by various combinations of SMAs and SMPs.