This paper describes an insect-inspired walking and jumping miniature robot. The walking and jumping motion enables the robot to avoid large obstacles and extends the moving area remarkably. A cricket-inspired robot that can walk and jump stably was developed. Shape memory alloy actuators were used for walking and jumping to reduce the size and weight of the robot. The motion of the robot was analyzed using a high speed video camera. The leg for walking moved by drawing a triangular trajectory. The robot also jumped stably with a small amount of body axis change. The jumping distance and height were 75.2 mm and 24.2 mm, respectively.