Two-way reversible shape memory polymer foams with porous three-dimensional structures were prepared using salt-leaching technology based on benzoyl peroxide (BPO) thermo-crosslinked poly(ethylene-co-vinyl acetate) (PEVA). Various pore sizes of PEVA/BPO porous foam were obtained using different NaCl particle sizes. The PEVA/BPO foams with various pore sizes exhibited reversible shape changes that allowed contraction during cooling and expansion during heating. The ideal two-way shape memory performance can be clearly observed in the large pore size sample PEVA/BPO-450. The morphology was characterized by scanning electron micron microscopy (SEM) and X-ray microcomputed tomography scanning (μCT) analysis. The compression behavior of PEVA/BPO foam was also investigated. These properties of two-way reversible shape memory PEVA/BPO foams could qualify their use as lightweight porous actuators in artificial intelligence and aerospace applications.