In this paper, we developed a new kind of ionic polymer metal composite (IPMC) actuator by doping water-soluble sulfonated multi-walled carbon nanotube (sMWCNT) into Nafion matrix to overcome some major drawbacks of traditional IPMCs, such as relatively low bending deformation and carring capacity at low driving voltages. Firstly, sMWCNT was synthesized via diazotization coupling reaction, and then doped into Nafion matrix by casting method. Subsequently, the electrochemical and electromechanical properties of sMWCNT-reinforced Nafion membranes and the corresponding IPMCs were investigated. Finally, the effects of sMWCNT on the performances of IPMCs were evaluated and analyzed systematacially. The results showed that sMWCNT was homogeneously dispersed in Nafion matrix without any entangled structure or obvious agglomeration. The main factors for superior actuation performances, like water-uptake ratio, proton conductivity and elastic modulus, increased significantly. Compared to the pure Nafion IPMC and MWCNT/Nafion IPMC, much superior electrochemical and electromechanical performances were achieved in the sMWCNT/Nafion IPMC, which were attributed to the numerous insertion sites, high surface conductivity and excellent mechanical strength as well as the homogeneous dispersity of the incorporated sMWCNT. Herein, a trace amount of sMWCNT can improve the performances of IPMCs significantly for realistic applications.