We present the fabrication and characterization of a cost-effective soft actuator capable of bidirectional cantilevered bending in ambientconditions when an electric potentialof4 V is applied. The fabrication procedure is straightforward, minimizes the use of toxic chemicals, and can be executed with common lab equipment. The resulting actuator has a tri-layer construction consisting of a strip of Nafion-117 membrane sandwiched between two multi-walled carbon nanotube (MWCNT) buckypaper electrodes. The buckypaper fabrication was optimized via investigating various combinations of solvents, surfactant, MWCNT concentrations, and layered filtrations, leading to highly conductive and strong buckypaper electrodes. The resultingbuckypaper electrodehadanelectrical resistance of about 10 Ω, which is similar to an industrially synthesizedbuckypaper. Aftersaturating the actuator inan ionic liquidBMIMBF4 (C8H15BF4N2)and applyinga lowvoltage toits electrodes, the actuator responds by bending toward the anode during a period of 20 seconds. The results showed that our 50 mm long actuator (mounted witha cantilevered lengthof40 mm) achieved a maximumtip displacement of28 mm (strain of0.70) and a tip blocking force of0.98 mN.