Nanocarbons represented especially by carbon nanotubes (CNTs) and graphene have been of great interest during the last two decades, both from a fundamental point of view and for future applications. The most eye-catching features of carbon nanostructures (CNSs) are their electronic, mechanical, optical and chemical characteristics, which open a way for versatile applications. Among those future prospects, actuators are one of the promising technologies. Since 1999 when the first macroscopic actuator containing CNTs was reported, the interest of utilizing these materials as well as other CNSs in active systems has been triggered all over the world. This paper gives a thorough review as well as in-depth descriptions of the many aspects of nanocarbon-based actuators. The review covers aspects of worldwide research and development of nanocarbon ionic actuators up to 2012. Materials which are covered by this review include CNTs and their composites, carbon nanofibres (CNFs), graphene and its derivatives, microporous carbon materials (for example carbide derived carbons (CDCs) and carbon aerogels) as well as the possible combinations of these materials. The considered aspects cover the following fields: synthesis and characterization of the investigated materials, the actuation mechanism as well as modelling and simulation. Applications comprising system integration and device development are also reviewed within this paper.