The development of high-performance magnetic carrageenan/mesona gum (CMG) hydrogel-based soft actuators that integrate rapid response, autonomous motion, and real-time sensing capabilities remains a significant challenge. Inspired by the muscle fiber structure, a hamburger-like conductive composite is presented that achieved a synergistic combination of high biocompatibility, high-speed, integrated magnetic actuation and self-sensing functionality via an eco-friendly fabrication strategy. The magnetic actuation hydrogel exhibits excellent flexibility and magnetically actuated capability attributed to the gradient distribution of magnetic particles (MPs)@multi-walled carbon nanotube (MWCNTs) within the CMG interpenetrating network. Meanwhile, benefiting from the satisfied electrochemical performance, the MWCNTs/sodium alginate (SA) electrodes on both sides enhance the electrical responsiveness and reliability to external stimuli. The developed device demonstrates satisfied biocompatibility, high strain sensitivity (gauge factor of 3.06), fast response (107 ms), remarkable cycling durability (6000 cycles), and rapid magnetic actuation speed of 26.7°/s. The core achievement is that the co-localization of actuation and sensing within a monolithic structure, which allows simultaneous actuated deformation and real-time motion monitoring. This has been demonstrated in bio-inspired systems, including a gripper capable of detecting its own position and grip, and a fish-like actuator that can monitor its own movement. Therefore, this work offers a novel strategy and inspiration for designing intelligent flexible actuation with self-feedback loops, displaying great potentials in next-generation wearable electronics, soft bionic robots, and human-machine interaction.