<p>Soft magnetoelectric composites (SMCs) demonstrate tremendous application prospects in soft robots and flexible electronics due to their excellent mechanical and magnetoelectric properties. However, there is a lack of theory in describing the voltage response and revealing the voltage response mechanism of SMCs. Herein, based on Biot-Savart’s law, we propose a theoretical model of a SMC consisting of an elastomeric body and a helix coil. The voltage produced by the SMC is verified with available experiment results. For the maximum voltage and compression time, the relative errors between the theoretical and experiment results are 1.02% and 6.67%, respectively, which demonstrates the effectiveness of the proposed model. Based on the theoretical model, the magnetic characteristic and effect of structural parameters of the SMC are studied. Results show that the magnetic flux density decreases with time during the compression. The turn and diameter of helix coils and the magnetic powder content possess a significant influence on the voltage. The maximum voltage of the SMC with optimal parameters reaches 228.50 µV, which is improved by 697% compared with initial parameters. The compression ratio and compression speed possess a smaller effect on the maximum voltage. Finally, the SMC is integrated into a double-fingered gripper capable of sensing its grasping state and the properties of objects. The developed model and the obtained results provide a comprehensive understanding of SMC behavior, offering valuable insights for optimizing its performance.</p>