Synergistic effects of self-assembled carboxylic acid-functionalized carbon nanotube (CNT) and nafion/silica nanofiber on the electro-activated shape recovery behavior of shape memory polymer (SMP) nanocomposite were investigated. Carboxylic acid-functionalized CNTs were self-assembled onto the carbon fiber mat to enhance their bonding reliability and achieve efficient electrical actuation for SMP matrix. Nafion/silica nanofibers were electrospun onto surfaces of the carbon fiber mat to prevent electrically resistive heat dissipation. The combination of electrically/thermally conductive CNTs and thermally resistive nafion/silica nanofibers results in improvement for both electrically induced shape recovery and actuation efficiency in the SMP nanocomposite. (C) 2016 Elsevier Ltd. All rights reserved.