Peristaltic pumping is a continuous displacement method widely found in biological organs such as the intestines, esophagus, and ureter. Biomimetic peristaltic pumps are a subset of these pumps that mimic existing biological peristaltic systems closely in respect of size and transport parameters including generated pressure and flow rate. This research aims to develop a biomimetic Soft PEristaltic Actuator (SPEA) for use in biomedical applications. The proposed design of the SPEA consists of five identical units of circular conduits that are separately actuated and controlled. In this paper fabrication and characterisation of one unit of proposed SPEA is presented. The SPEA unit in this study was manufactured with a three-stage moulding process and it achieved a peak generated pressure of 10 mmH2O (0.735 mmHg).