Electrostatic actuators provide the means for locomoting soft robots without compromising the robot’s flexibility. In particular, hydraulically amplified self-healing electrostatic actuators (HASELs) can provide performance and efficiency comparable to human muscles without the need for rigid components. Operation of these actuators typically requires potentials in the kilovolt range for sufficient force and displacement. This requirement generally leads to large, rigid control circuitry that precludes the development of soft untethered robots. In this work, we develop flexible circuits that can be mounted directly atop a HASEL for its control, as well as flexible circuits for power distribution and computation. These flexible circuits increase the ability to utilize the actuator’s inherent continuum mechanics, and we demonstrate a locomoting low mass modular autonomous robotic system inspired by snake anatomy using soft HASEL actuators and flexible electronics. To further reduce mass and improve mechanical flexibility, we have additionally developed thin-film high voltage transistors based on an offset gate hydrogenated amorphous silicon technology. These devices can be readily integrated with flexible substrates to enable incorporation with soft actuators. This work paves the way for entirely flexible robots using soft artificial muscle like actuators, and additionally provides an intermediate step that can be easily adopted by researchers to create a soft robot on the macro-scale.