A dielectric elastomer (DE) cantilever combined-stepped-plate actuator is proposed and its nonlinear vibration enhancement behaviors are investigated. The irregular geometry of the actuator is transformed into a rectangular computational domain with the ideal of the iso-parametric element transformation; then the governing equations describing the nonlinear vibration of the actuator are formulated by the variational method. The nonlinear periodic responses are solved through the harmonic balance method and the arc-length continuation method. The results indicate that the single side (upper or lower) voltage excitation is more efficient in the actuating performance. The asymmetrical combined plate presents a better motion performance comparing with the symmetrical one. Not only can more drive modes be achieved (For instance, both symmetrical flapping mode and asymmetrical torsional mode can be excited by changing the voltage frequency), but also higher responses can be obtained. Additionally, isolated responses are found for some particular dimension parameters, which provides a potential design strategy to regulate the frequency domain of significant responses. This research concludes that, the asymmetrical combined plate subjected to an asymmetrical voltage loading would show a more efficient locomotion performance, which can provide an insight into the structural design and the excitation strategy for DE actuators.