As an electrically driven artificial muscle, dielectric elastomer actuators (DEAs) are notable for their large deformation, fast response speed, and high energy density, showing significant potential in soft robots. The paper discusses the working principles of DEAs, focusing on their reversible deformation under electric fields and performance optimization through material and structural innovations. Key applications include soft grippers, locomotion robots (e.g., multilegged, crawling, swimming, and jumping/flying), humanoid robots, and wearable devices. The challenges associated with DEAs are also examined, including the actuation properties of DE material, material fatigue, viscoelastic effects, and environmental adaptability. Finally, modeling and control strategies to enhance DEA performance are introduced, with a perspective on future technological advancements in the field.