The invention provides a soft robot based on shape memory alloy driving. The soft robot has the characteristics of being simple in structure, capable of moving in multiple poses, good in environmental adaptation and the like. A single chip microcomputer is controlled to sequentially power on shape memory alloy wires embedded in the robot, the six shape memory alloy wires are arranged in a robot body, and an alloy wire overlapping structure is used for driving the robot to move forwards and backwards. The robot is provided with four feet, each foot comprises two shape memory alloy wires, the forward moving direction of the robot is changed by means of flexibility of the alloy wires, and multi-pose movement is achieved. A top heat dissipation structure can increase the movement speed of the root. A bottom tooth-shaped structure is beneficial to jacking up a silica gel outer shell in the mode that the alloy wires are powered on to retract. Supporting structures on the front side and the rear side serve as contact points of a supporting surface in movement, and friction force with the surface can be reduced in movement.