Fiber actuators, particularly valuable in soft robotics and environmental sensing, are at the forefront of “smart” materials and materials innovation. In this realm, torsional and tensile biofiber actuators, notable for their cost-effectiveness and biodegradability, mark a critical gap in the development of next-generation functional systems and devices. To address this gap, this study showcased moisture-responsive fiber actuators made from cellulose nanofibrils (CNFs). The initial focus of this contribution was on an innovative torsional actuator, which capitalized on the hydrophilic nature of the CNFs filaments produced through wet-spinning processes. These robust filaments, with a mechanical strength of (237.0 ± 10.7) MPa, were twisted to form the torsional actuator. This actuator demonstrated a rapid rotational response, achieving up to 1180 rpm within merely 10 s of exposure to moisture, and maintained high durability over multiple cycles. Building upon this platform, the study continued and aimed to build up a tensile actuator, which ingeniously integrated a supercoiled nylon fiber core within a moisture-sensitive CNFs sheath. This design enhances the structural support and functionality of the actuator. The pursued transition from torsional to tensile actuator demonstrates an iterative and innovative approach in actuator technology, underscoring the versatility and potential of CNFs in the realm of “smart” actuation materials.