Most soft actuators have the ability of monotonic responsiveness. That is, there is only one response action after being stimulated once. In this work, a temporarily responsive bilayer hydrogel actuator is designed and fabricated by combining a tertiary amine-containing pH-responsive layer and a urease-containing non-responsive layer. The hydrogel actuator can achieve programed deformation and recovery driven by chemical fuels (i.e., acidic urea solutions), which is essentially regulated by rapid acidification and slow enzymatic production of ammonia for recovering the pH of the system. The actuation extent and duration can be simply controlled by the fuel levels, and the repeated actuations are also possible via refueling. Furthermore, we fabricate several hydrogel devices that can display specific patterns or lift an item. This enzymatic method shows new possibilities to control the temporary actuation of polymer hydrogels potentially useful in many fields such as soft robotics, biomimetic devices, and environmental sensing.