The mechanical gripper shows significant importance as an alternative to manual work, but presents certain limitations in its gas or electric power with complex wire connection, presents limited available area and loud working noise, and lacks sensing function for feedback to the environment. In the present work, a novel magnetically driven and self-sensing flexible gripper was prepared based on piezoelectric elastomer and high-entropy alloy composite. The high-entropy alloy is prepared as FeCoNi(AlGa)0.5 to realize high permeability, while the piezoelectric elastomer is synthesized with superior elasticity and low modulus. The incorporation of FeCoNi(AlGa)0.5 into the piezoelectric elastomer exhibits high flexibility, magnetostriction performances and piezoelectric responses, reaching maximum strain of 1534.5 %, maximum magnetostrictive coefficient of 320 ppm and maximum piezoelectric response of 0.28 V/N. Meanwhile, the flexible gripper achieves synchronous wireless driven gripping function with a maximum lifting ratio to dead load over 41.38, and self-sensing function of target physical size with accuracy over 95 %. The flexible gripper shows maximum work power as low as 5 W. Thus, the magnetically driven and self-sensing flexible gripper shows great potential in intelligent industrial equipment.