Intelligent soft robots that integrate both structural color and controllable actuation ability have attracted substantial attention for constructing biomimetic systems, biomedical devices, and soft robotics. However, simultaneously endowing single-layer cholesteric liquid crystal elastomer (CLCE) soft actuators with reversible 3D deformability and vivid structural color changes is still challenging. Herein, a multi-responsive (force, heat and light) single-layer 3D deformable soft actuator with vivid structural color-changing ability is realized through the reduced graphene oxide (RGO) deposition-induced Janus structure of the CLCE using a precisely-controlled evaporation method. This single-layer structural color soft actuator can directly transform from a flat shape to a 3D shape through the photothermal effect. The introduction of RGO not only improves the mechanical properties and color saturation of the CLCE, but also endows it with near-infrared (NIR) light responsiveness