Four-dimensional (4D) printing has advanced beyond conventional three-dimensional (3D) printing by utilizing smart materials like Shape Memory Polymers (SMPs), allowing the fabrication of complex structures capable of altering their shape or properties in response to external stimuli such as heat. Despite their great potential, the lack of intrinsic electrical functionality in SMPs necessitates direct external thermal activation, which limits their use in critical engineering applications. While electroactive SMP nanocomposites enable Joule heating, the incorporation of conductive nanofillers often compromises the intrinsic shape memory, thermal, and mechanical properties of the polymer nanocomposite. This work addresses these limitations by utilizing conductive and flexible thermoplastic polyurethane (cTPU) filament as a heating element, forming a SMP/cTPU composite. The composite consisting of SMP matrix and cTPU filler is fabricated via dual-extrusion Fused Deposition Modeling (FDM) 3D printing. The integration of cTPU’s conductive network allows for electrothermal and remote activation of the SMP matrix, while preserving most of the intrinsic SMP properties. To study the performance of the proposed composite, a comparative assessment was conducted between the electrothermally activated SMP/cTPU composite and a conventionally heated SMP under similar conditions. The study shed insights into the fabrication and curing process, followed by evaluations of thermal stability, mechanical, and shape memory properties. The as-cured SMP/cTPU composite was successfully heated electrothermally, reaching its glass transition temperature (~ 55 °C), and exhibited consistent response over multiple electrothermal cycles. A shape memory cycle consisting of programming and recovery was conducted on a SMP/cTPU dumbbell specimen and characterized using Digital Image Correlation (DIC) and Infrared (IR) Thermography. The SMP/cTPU composite achieved a shape recovery ratio of approximately 73%, compared to 74% for the plain SMP. Moreover, SMP/cTPU composite showed faster recovery time as evidenced by the improved shape recovery rate. Mechanical testing further revealed a slight increase in elastic modulus and tensile strength, and improved deformation stability in the SMP/cTPU composite. This cost-effective, reproducible, and stable approach utilizes 3D printing to introduce electroactive functionality to intrinsic SMPs without compromising their inherent properties, while simultaneously enhancing the shape recovery rate and mechanical performance.