The invention provides a deformation controllable hydrogel actuator and a preparation method thereof. The deformation controllable hydrogel actuator is prepared from an inorganic nano-material, poly(isopropyl acrylamide) and water, wherein the concentration distribution of the inorganic nano-material in a thickness direction is non-uniform, so as to form an asymmetrical heterojunction structure; in a plane direction, the non-uniform asymmetrical structure can be randomly patterned according to requirements, so that various reversible deformation triggered by temperature is realized. The preparation method comprises the following steps: mixing isopropyl acrylamide monomer, an initiator and the inorganic nano-material to form uniform pre-gel; pouring the pre-gel into a rectangular mold; covering one layer of mask plate on the pre-gel; evaporating partial water to induce the concentration of the inorganic nano-material to be not uniformly distributed in the thickness direction of an exposed region; then carrying out in-situ polymerization to fix a patterned non-uniform structure, so as to form the deformation controllable hydrogel actuator. The method is simple and feasible and easy to realize; the deformation controllable hydrogel actuator can be used for soft robots, drug delivery, microfluidic valves and artificial muscle.