Ionic polymer–metal composites (IPMC) have the advantages of a large driving mass ratio, low driving voltage, and high current sensitivity, but their low electrode continuity, low energy storage, and unclear driving response mechanisms limit further application and development. In this study, Nafion is used as the base film and metallic silver is used as the electrode material to modify IPMC electrodes. The physical and electrochemical properties of silver-based IPMC with three electrode preparation processes are tested, and the effects of different electrode preparation processes and structures on the energy storage performance and driving performance of IPMC are analyzed. The results show that the electrode coating effect of the Hot Press Chemical Plating method (HPCP) is good and maintains better continuity, and the formed layer electrode can improve the energy storage performance of IPMC, and the enhancement of energy storage performance can improve the driving performance of IPMC. This study enhances the energy storage performance and driving performance of IPMC from the perspective of electrode process and structure and provides a basis for the study of the enhancement of energy storage performance of IPMC by the HPCP electrode preparation process.