A bipennate muscle architecture-based shape memory alloy embedded hierarchical actuator is disclosed. The shape memory alloy embedded hierarchical actuator (100) comprises plurality of Shape Memory Alloy (SMA) wires (110), a movable subassembly (122), a left fixture (102), a right fixture (104), a plunger (116), a spring connector (114), a base (120) and the like. The movable subassembly (122) comprises a top plate (106) and a bottom plate (108). The spring connector (114) is configured to support arrangement of bias springs (112). The left fixture (102) is configured to hold one end of the plurality of SMA wires (110) using a plurality of terminal crimps (118).