4D printing, which combines the design freedom of 3D printing with the responsiveness of smart materials, is revolutionizing the creation of active structures. These structures can change shape in response to external stimuli, paving the way for advancements in robotics, biomedicine, and beyond. However, a comprehensive review article highlighting recent advancements in 4D printed shape memory actuators (SMAAs) is lacking. This review explores the exciting potential of 4D printing for intelligent SMAAs. It examines the concept of shape memory and the materials used, like shape-memory polymers (SMPs), shape-memory alloys (SMAs), and shape-memory polymer composites (SMPCs). It then dives into compatible 3D printing techniques and design principles for achieving programmed shape changes. Different categories of 4D printed SMAAs are explored, showcasing their potential applications in diverse fields. The review concludes by discussing challenges and future directions, emphasizing the massive potential of 4D printing for creating the next generation of actuators, making it a valuable resource for researchers in the field.