Inspired by the body character of jellyfish and the swimming mode of caudal fin, a new-style efficient autonomous underwater vehicle tends to be developed. A kind of smart material-shape memory alloy wire is adopted as the actuator to imitate the muscle of jellyfish. Based on rebuilding the configuration of jellyfish and analyzing the swimming strategy, a bionic jellyfish robot prototype propelled by 6 bionic tentacle propulsors is developed. The robot is 230 mm in length, 110 mm in diameter, 590 g in weigh and contains power supply. The robot can reach 110 mm/s straight speed and 18°/s turning speed in wireless control. The swimming experiment demonstrates that the bionic swimmer has the merits of simple structure, easy to seal, good maneuverability, silent propulsion and biology friendly. The feasibility of taking shape memory alloy wires as bionic muscle material is verified.