Abstract: Hard magnetic soft materials are a new type of magnetically driven composite materials, in which the hard magnetic soft continuum is characterized by fast response, large deformation, and good biosafety, and has gained wide attention in the fields of biomedicine, bionics, and soft body tentacles. However, the existing hard magnetic soft continuum is magnetized by pulsed magnetic field with a single magnetic domain mode, which is difficult to meet the demand of complex deformation, in addition, how to solve the problem of optimizing the design of magnetic domains of hard magnetic soft continuum under the complex deformation is also an important challenge nowadays. In order to address this problem, this paper developed a hard magnetic soft continuum based on chromium dioxide, and realized the reconfigurable programming of complex magnetic domain patterns through laser direct writing. Then, for the design issues of magnetic domain according to different deformation requirements, optimization design was carried out on dimensions, magnetic powder content, and magnetic domain orientation. Finally, the optimized design of magnetic domains for various deformation requirements was verified by experiments and demonstrated functionally.