Ionic electroactive polymers (IEAPs) have received considerable attention for their flexibility, lightweight composition, large displacement, and low-voltage activation. Recently, many metal–nonmetal composite electrodes have been actively studied. Specifically, graphene oxide–silver nanowire (GO–Ag NW) composite electrodes offer advantages among IEAPs with metal–nonmetal composite electrodes. However, GO–Ag NW composite electrodes still show a decrease in displacement owing to low stability and durability during driving. Therefore, the durability and stability of the IEAPs with metal–nonmetal composite electrodes must be improved. One way to improve the device durability is coating the electrode surface with a protective layer. This layer must have enough flexibility and suitable electrical properties such that it does not hinder the IEAPs’ driving. Herein, a poly(3,4-ethylenedioxythiophene)–poly(styrenesulfonate) (PEDOT:PSS) protective layer and 4-(1,1,3,3-tetramethylbutyl)phenyl-polyethylene glycol (Triton X-100) are applied to improve driving performance. Triton X-100 is a nonionic surfactant that transforms the PEDOT:PSS capsule into a nanofibril structure. In this study, a mixed Triton X-100/PEDOT:PSS protective layer at an optimum weight ratio was coated onto the GO–Ag NW composite-electrode-based IEAPs under various conditions. The IEAP actuators based on GO–Ag NW composite electrodes with a protective layer of PEDOT:PSS treated with Triton X-100 showed the best stability and durability.