Polymeric microcomponents are widely used in microelectromechanical systems (MEMS) and lab-on-a-chip devices, but they suffer from the lack of complex motion, effective addressability and precise shape control. To address these needs, we fabricated polymeric nanocomposite microactuators driven by programmable heterogeneous magnetic anisotropy. Spatially modulated photopatterning was applied in a shape-independent manner to microactuator components by successive confinement of self-assembled magnetic nanoparticles in a fixed polymer matrix. By freely programming the rotational axis of each component, we demonstrate that the polymeric microactuators can undergo predesigned, complex two- and three-dimensional motion.