To obtain liquid crystal elastomer with shape-programmable ability and improve its application potential in soft actuators and soft robots, this work reports a light driven soft actuator based on liquid metal (LM)-liquid crystal elastomer (LCE). The soft actuator is fabricated by 4D printing technology, which endows the actuator robust shape-programmable capability.LM was dispersed in ethanol by sonication, then LM micro-particles were mixed into the liquid crystal solution to obtain uniform LM-LCE ink. Using 4D printing technique, the soft actuator with specific deformation was eventually obtained by further programming the orientation of ink. The alternating orthogonal and conical array LM-LCE soft actuators were created via 4D printing. The actuator has good photothermal performance, when exposed to 808 nm infrared laser, its surface temperature can reach above 120 °C in about 10 s. According to the superior photothermal performance, the alternating orthogonal structure actuator is capable of producing bending deformation quickly, while the conical array structure actuator can produce a convex deformation with the spiral center as the vertex.Based on 4D printing technology, the LM-LCE light-driven soft actuator has robust shape-programmable capability, demonstrating better adaptability and adjustability in dynamic and complex environments, and is anticipated to be extensively used in the fields of medical treatment, military, and soft robot.