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Due to the inherent rigidity of hard materials, the adaptability and flexibility of traditional robots are limited. Recently, soft robots became one of the most attractive areas. The intrinsic compliance and adaptability of soft materials enable soft robots to achieve unexpected functions. Dielectric elastomers (DE) can exhibit large deformation, fast response, and high energy density under the action of external electrical stimuli, becoming one of the most promising materials in soft robots. Herein, the key points of DE actuators (DEAs) are first introduced, including the working principle, DE materials, compliant electrodes, and typical configurations. Then, the soft robots driven by DEAs are reviewed. Some recent highlights are described and discussed in detail. Finally, the main challenges are summarized for the real‐world application of soft robots based on DEAs.