AbstractElectro‐active polymers (EAP) are smart materials that can deform dramatically and quasi‐instantaneously in response to an applied electric field. These properties make them suitable to be used as soft robotic actuators. As any passive rubber‐like material, those electro‐sensitive components are quasi‐incompressible and may show pronounced time‐dependent hysteresis behaviour. The direction of the electric field induced deformation can be tuned by incorporating stiff fibres in a relatively soft EAP, which renders an anisotropic mechanical response of the whole composite. The contribution at hand presents a constitutive model which is suitable for the simulation of an electro‐viscoelastic behaviour of transversely isotropic EAP. The material model is based on an additive split of the total energy function into purely mechanical, electrical and coupled electro‐mechanical contributions. The mechanical part of the energy is further decomposed into isotropic and anisotropic parts. For the electrical and the coupled contributions, formulations for both the perfectly linear dielectric and the nonlinear (deformation dependent) electrical response are presented. Regarding the numerical implementation, a mixed quasi‐incompressible and quasi‐inextensible electro‐mechanical finite element is developed. In addition to the displacement and electric potential, four additional field variables are introduced. The capabilities of the proposed theory and its numerical treatment are demonstrated through simulations of several electro‐mechanical actuator structures. The utilization of a quasi‐inextensible finite element is shown to improve the convergence behaviour of the numerical solution, allowing for the simulation of complex loading scenarios of fibre reinforced EAP in an efficient manner.