This paper introduces the development of two kinds of graded piezoceramic bending actuators. For designing the graded compositional profiles, classical lamination theory (CLT) is used to explore the optimal gradient that generates large electromechanical response. As the first model material, a laminated piezoceramic bimorph actuator was designed and fabricated with a graded compositional distribution of PZT and Pt, and its electric-induced bending characteristics were evaluated and compared with the analytical results by CLT. Furthermore, porosity-graded PZT ceramics were developed, which may be used as the preforms for the infiltration process to fabricate bending actuators with graded ceramic/metal and/or ceramic/polymer interfaces. The fabrication process and property evaluation of homogenously porous and porosity-graded PZT ceramics were introduced.