 Chameleons, salamanders and many toads use store elastic energy to lance their sticky tones at unsuspected insects, located up to one and a half body lengths away, catching them within one tenth of a second. If we could fabricate robots capable of performing such a large amplitude motion at high speed, we could actually automate many tasks in a much more accurate and faster way. Unfortunately, our robots are usually built using hard components that are very heavy and slow down their motion. We have developed a new class of entirely soft robots capable of recreating bio-inspired, high-power and high-speed motions using store elastic energy. These robots are fabricated using stretchable polymers similar to rubber bands with internal hollow channels that expand like a balloon when they are pressurized. The elastic energy of these robots is stored by stretching their body in one or multiple directions during the fabrication process, following nature-inspired principles. Depending on what by inspired motion we want to achieve, we tune the amount of elastic energy accordingly. For example, taking inspiration from the chameleon's tongue strike, a pre-stretch pneumatic soft robot is capable of expanding five times its own length, catching a live beetle and retrieving it in just 120 milliseconds. Many birds, like the woodpeakers, achieve zero-power perching using the elastic energy stored in the stretched tendons at the back of their legs, allowing them not to fall off a perch when asleep. The conformability of the soft arms of these grippers to the grip object maximizes the contact area, enhancing the grasping and facilitating high-speed catching at zero-power holding. We demonstrated that these bird-inspired soft robotic grippers can catch a ball moving at 10 meters per second in only 65 milliseconds. But not only animals know how to exploit the elastic energy to achieve high-speed motion using trap mechanisms. Some plants, like the Venus flytrap, use elastic energy stored in their biostable curved leaves to rapidly close on prey exploring their inner surface. Inspired by the trap mechanism of the Venus flytrap, we created a soft robotic Venus flytrap which closes in only 50 milliseconds after receiving a short pressure stimulus. These new pre-stretch soft robots have several advantages over existing soft robotic systems. They excel at gripping, holding and manipulating a large variety of objects at high speed. They can use elastic energy stored in their pre-stretch rubber bodies to hold up to 100 times their weight without consuming any external power. Additionally, their soft skin can be easily patterned with anti-sleep microspikes, which significantly increase their traction and enables them to perch upside down from angles up to 116 degrees over a prolonged period of time and facilitate the capture of live prey. We envision that the design and fabrication strategies that we have proposed will pave the way towards the fabrication of a new generation of entirely soft robots, capable of harnessing elastic energy to achieve speeds and motions currently inaccessible for existing robots.