A novel shape memory nanocomposite system, consisting of a thermoplastic Nafion polymer and ultrathin electrospun polyacrylonitrile (PAN)-based carbonization nanofiber membranes, is successfully synthesized. PAN-based carbonization nanofiber networks that offer responses to deformations are considered to be an excellent actuation source. Significant improvement in the electrical conductivity of carbon nanofiber membranes is found by adjusting the applied voltage power in the electrospinning PAN process varying from 7.85 to 12.30 S cm(-1). The porous structure of the carbon nanofiber membranes provides a large specific surface area and interfacial contact area when combined with the polymer matrix. Shape memory Nafion nanocomposites filled with interpenetrating non-woven electrospun PAN carbonization membranes can be actuated by applying 14 V electrical voltage within 5 s. The results, as demonstrated through morphology, electrical and thermal measurements and a shape recovery test, suggest a valuable route to producing soft nanocomposites.