According to one aspect of the present disclosure, a control-engaged electrode-driving method for droplet actuation is provided. The method includes, a first voltage is provided to a first electrode for licking off a droplet. A second voltage is naturally discharged to a third voltage for maintaining a droplet movement. A fourth voltage is provided to the first electrode for accelerating the droplet. Naturally discharging from the second voltage to the third voltage and providing the fourth voltage to the first electrode are repeated. The first voltage is provided to a second electrode when a centroid of the droplet reaching a centroid of the first electrode. Naturally discharging from the second voltage to the third voltage and providing the fourth voltage to the second electrode are repeated.