Dielectric elastomer actuators (DEAs) emerge as a soft actuation technology that exhibits such advantageous properties as large strains, fast responses, high energy densities, and mechanical compliancy. Extensive research over the past few decades has advanced the performance of DEAs to match or even exceed the capabilities of natural muscles. These exciting breakthroughs have led to a wide range of applications in the field of soft robotics, including automation, manipulation, locomotion, and human-robot interaction. Here, we review major advancements in dielectric elastomer materials, and provide an overview of groundbreaking soft robotic applications. (DOI: https://doi.org/10.1002/smm2.1203)