In this study, we report for the first time the fabrication of poly(methyl methacrylate-co- acrylic acid) (PMMAA)-based IPMCs actuator. The PMMAA membranes were prepared by a solution casting method and the carbon nanotubes (CNTs) electrodes on both sides of the membrane. The physical properties were tested in terms of ion-exchange capacity, water uptake and linear expansion. The composition of PMMAA was analyzed using Fourier transform infrared (FT-IR) spectroscopy analysis. The results showed that the PMMAA20 ionic polymer–metal composite actuator had good blocking force harmonic and step responses as an electro-active polymer.