This paper reports a wirelessly powered ionic polymer-metal composite (IPMC) soft actuator operated by external radio frequency (RF) magnetic fields for targeted drug delivery. A 183 μm thick IPMC cantilever valve was fitted with an embedded LC resonant circuit to wirelessly control the actuator when the field frequency is tuned to its resonant frequency of approximately 25 MHz. Experimental characterization of the fabricated actuator showed a cumulative cantilever deflection of 160 μm for three repeated RF ON–OFF cycles at 0.6 W input power. The device was loaded with a dye solution and immersed in DI water to demonstrate wireless drug release. The qualitative result shows the successful release of the dye solution from the device reservoir. The release rate can be controlled by tuning the RF input power. We achieved a maximum average release rate of ∼0.1 μl s−1. We further conducted an in vitro study with human tumor cells (HeLa) to demonstrate the proof of concept of the developed device. The experiments show promising results towards the intended drug delivery application.