In　contrast　to　traditional　large-scale　robots,　which　require　complicated　mechanical　joints　and　material　rigidity,　microrobots　made　of　soft　materials　have　exhibited　amazing　features　and　great　potential　for　extensive　applications,　such　as　minimally　invasive　surgery.　However,　microrobots　are　faced　with　energy　supply　and　control　issues　due　to　the　miniaturization.　Magnetic　field　actuation　emerges　as　an　appropriate　approach　to　tackle　with　these　issues.　This　review　summarizes　the　latest　progress　of　biomimetic　soft　microrobots　actuated　by　magnetic　field.　Starting　with　an　overview　of　the　soft　material　and　magnetic　material　adopted　in　the　magnetic　field　actuated　soft　microrobots,　the　various　fabrication　methods　and　design　structures　of　soft　microrobots　are　summarized.　Subsequently,　practical　and　potential　applications,　such　as　targeted　therapy,　surgical　operation,　and　the　transportation　of　microscopic　objects,　in　the　fields　of　biomedicine　and　environmental　remediation　are　presented.　In　the　end,　some　current　challenges,　and　the　future　development　trends　of　magnetic　soft　microrobots　are　briefly　discussed.　This　review　is　expected　to　offer　a　helpful　guidance　for　the　new　researchers　of　biomimetic　soft　microrobots　actuated　by　magnetic　field.　©　2021,　The　Author(s),　under　exclusive　licence　to　Springer　Science+Business　Media,　LLC,　part　of　Springer　Nature.