Featuring controllable electrochemomechanical deformation and excellent biocompatibility, polypyrrole electroactuators used as artificial muscles play a vital role in the design of biomimetic robots and biomedical devices. In the past decade, tremendous efforts have been devoted to their optimization on electroactivity, electrochemical stability, and actuation speed, thereby gradually filling the gaps between desired capabilities and practical performances. This review summarizes recent advances on polypyrrole electroactuators, with particular emphases on novel counterions and conformation-reinforcing skeletons. Progress and challenges are comparatively demonstrated and critically analyzed, to enlighten future developments of advanced electroactuators based on polypyrrole and other conducting polymers.