Conducting polymer actuators have shown wide application prospects in the field of biomedical sensors and micro-/nanorobotics. In order to explore more applications in biomedical sensing and robotics, it is essential to understand the actuator static behavior from an engineering perspective, before incorporating them into a design. In this article, we have established the mathematical model of a trilayer polypyrrole (PPy) cantilever actuator and validated it experimentally. The model helps in enhancing the efficiency and in improving the performance, predictability, and control of the actuator. The thermal expansion analogy, which is similar to volume change of the multilayer PPy actuator due to ion migration, has been considered to develop a mathematical model in COMSOL Multiphysics. To further validate the actuator deformation predicted by the mathematical modeling, a multilayer PPy actuator was fabricated by electrochemical synthesis and the experimentally determined deflection of the actuator was compared to simulation data. Both the theoretical and experimental results depict that the model is effective for predicting the bending behavior of multilayer PPy actuators at different input voltages.