To tackle the challenges posed by traditional robots, which are often heavy and struggle to navigate complex environments in aging pipeline inspections, this paper presents a soft robot inspired by the inchworm, utilizing liquid crystal elastomers (LCE). The design features two anchoring actuators positioned at each end and a central bending-stretching actuator. These actuators are constructed primarily from liquid crystal elastomers and polyimide (PI) soft electrothermal films, functioning through electromechanical deformation of the LCEs. The soft robot achieves locomotion by managing the alternating movements of the two anchoring actuators in conjunction with the bending-stretching actuator. Initially, the paper examines how various actuator characteristic parameters influence driving performance. By integrating finite element analysis with practical experiments, the viability of the soft robot’s gait is confirmed. Additionally, motion experiments conducted in diverse environments (including flat surfaces, slopes, and complex pipelines) further assess the robot’s mobility capabilities. Experimental results indicate that the soft robot can reach a maximum speed of 24.1 mm/min and maintain stable movement in intricate pipeline environments. The liquid crystal elastomer robot developed in this study offers a novel solution for inspecting complex pipelines.