In this paper, a dielectric elastomer (DE)-driven liquid prism enabling two-dimensional beam control is proposed. The proposed liquid prism consists of a flexible driver and a liquid cavity. The glass plate is driven by DE to change the tilt angle of the liquid-solid interface for beam steering and field of view (FOV) tuning. The maximum optical deflection angle of 8.13° and response time of 76.77 ms were measured, the variable FOV capability was also verified. The proposed liquid prism can be used in beam modulation, microscope systems.